diff --git a/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml index c57f25585c2e9d5ccc41627fd04d5fc80116bc4a..403433aadc4c03b0f586a86870e26ad2ee6ae731 100644 --- a/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml +++ b/dataset_info/AIRBOT_MMK2_beauty_sponge_and_cake_to_place.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_beauty_sponge_and_cake_to_place +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: beauty_sponge_and_cake_to_place -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8096 -dataset_size: 394.9MB -statistics: - total_episodes: 50 - total_frames: 8096 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - End @@ -60,7 +67,30 @@ sub_tasks: - Abnormal - Place the cake into the plate with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 8096 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8096 +dataset_size: 394.9MB +data_structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_beauty_sponge_and_cake_to_place + dataset_name: beauty_sponge_and_cake_to_place + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8096 + dataset_size: 394.9MB + statistics: *id002 + dataset_uuid: c4b8c5b1-7a57-48f3-9074-c2a019dbfd16 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - End + - Grasp the bullet into the plate with the left gripper + - Grasp the cake on the table with the right gripper + - Place the bullet on the table with the left gripper + - Abnormal + - Place the cake into the plate with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml index 570956aceeee33bd284a9d6474a17f52e3168304..5ce1d6e1328dd2a1e006aecebe1e1aa89399486a 100644 --- a/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml +++ b/dataset_info/AIRBOT_MMK2_bowl_storage_pepper.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_bowl_storage_pepper +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: bowl_storage_pepper -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the white bowl on the pink bowl with the left gripper -objects: +dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-19594 -dataset_size: 715.7MB -statistics: - total_episodes: 150 - total_frames: 19594 - total_tasks: 3 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the white bowl on the pink bowl with the left gripper sub_tasks: - Place the white bowl on the pink bowl with the left gripper - Grasp the white bowl with the left gripper @@ -62,7 +69,30 @@ sub_tasks: - Grasp the yellow round chili pepper with the right gripper - Place yellow round chili pepper on the blue bowl with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 150 + total_frames: 19594 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 19594 +dataset_size: 715.7MB +data_structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,46 +174,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_bowl_storage_pepper + dataset_name: bowl_storage_pepper + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the white bowl on the pink bowl with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-19594 + dataset_size: 715.7MB + statistics: *id002 + dataset_uuid: 83f67fd9-c480-4786-ae1d-41475a4f4618 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the white bowl on the pink bowl with the left gripper + - Grasp the white bowl with the left gripper + - Static + - End + - Abnormal + - Grasp the pumpkin with the left gripper + - Place the pumpkin on the pink bowl with the left gripper + - Grasp the yellow round chili pepper with the right gripper + - Place yellow round chili pepper on the blue bowl with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_boxs_storage.yaml b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml index 7d8a433c339d2ce495424036d101b9c3ca502ad5..e35bdc1f4f29fe143f47bc7e2b80ef644d000ef6 100644 --- a/dataset_info/AIRBOT_MMK2_boxs_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_boxs_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_boxs_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: boxs_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the potato with the left gripper -objects: +dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -64,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-40906 -dataset_size: 1.2GB -statistics: - total_episodes: 138 - total_frames: 40906 - total_tasks: 3 - total_videos: 552 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the potato with the left gripper sub_tasks: - Grasp the potato with the left gripper - Place the phone case box in the yellow box with the right gripper @@ -98,7 +105,30 @@ sub_tasks: - Place the potato into the left compartment of the storage box with the left gripper - Grasp the pumpkin with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -106,7 +136,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 138 + total_frames: 40906 + total_tasks: 3 + total_videos: 552 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 40906 +dataset_size: 1.2GB +data_structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -115,13 +183,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -139,44 +210,132 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_boxs_storage + dataset_name: boxs_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the potato with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-40906 + dataset_size: 1.2GB + statistics: *id002 + dataset_uuid: fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the potato with the left gripper + - Place the phone case box in the yellow box with the right gripper + - Place the pumpkin into the right compartment of the storage box with the right + gripper + - Place the calculator box in the yellow box with the left gripper + - Static + - Grasp the calculator box with the left gripper + - End + - Grasp the mango with the right gripper + - Grasp the pomegranate with the left gripper + - Place the pomegranate into the left compartment of the storage box with the left + gripper + - Place the mango into the right compartment of the storage box with the right gripper + - Grasp the phone case box with the right gripper + - Place the potato into the left compartment of the storage box with the left gripper + - Grasp the pumpkin with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_building_block_storage.yaml b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml index 74647e372fca7846f3097a850b59f7f51128d608..e11b706962fb0a289b92aab14e419f818c0d17fb 100644 --- a/dataset_info/AIRBOT_MMK2_building_block_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_building_block_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_building_block_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: building_block_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the red cylinder in the box with the right gripper -objects: +dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-39347 -dataset_size: 1.4GB -statistics: - total_episodes: 246 - total_frames: 39347 - total_tasks: 5 - total_videos: 984 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the red cylinder in the box with the right gripper sub_tasks: - Place the red cylinder in the box with the right gripper - Place the yellow block in the blue circle with the left gripper @@ -81,7 +88,30 @@ sub_tasks: - Place the green cylinder in the box with the left gripper - Place red rectangular block on the table with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -89,7 +119,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 246 + total_frames: 39347 + total_tasks: 5 + total_videos: 984 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 39347 +dataset_size: 1.4GB +data_structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -98,13 +166,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -122,46 +193,132 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_building_block_storage + dataset_name: building_block_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the red cylinder in the box with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-39347 + dataset_size: 1.4GB + statistics: *id002 + dataset_uuid: 55a64137-7092-451d-8a70-b22ff2383b33 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the red cylinder in the box with the right gripper + - Place the yellow block in the blue circle with the left gripper + - Place the green coil on the wooden pillar with the right gripper + - Grasp the green rectangular block on the plate with the right gripper + - Place the yellow block in the blue circle with the right gripper + - End + - Grasp the red cylinder with the right gripper + - Place green rectangular block on the table with the right gripper + - Grasp the yellow block with the left gripper + - Grasp the green coil with the right gripper + - Abnormal + - Grasp the green cylinder with the left gripper + - Grasp the yellow block with the rightt gripper + - Grasp the red rectangular block on the plate with the left gripper + - Place the green cylinder in the box with the left gripper + - Place red rectangular block on the table with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_cake_storage.yaml b/dataset_info/AIRBOT_MMK2_cake_storage.yaml index 25d422c685430d5354ac3fb182f8b594a2ba8366..4424db1980a2135a764182ffba0498d37624669b 100644 --- a/dataset_info/AIRBOT_MMK2_cake_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_cake_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_cake_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cake_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-4691 -dataset_size: 198.5MB -statistics: - total_episodes: 50 - total_frames: 4691 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the cake with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the cake on the white basket with the right gripper - Static - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 4691 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 4691 +dataset_size: 198.5MB +data_structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,44 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_cake_storage + dataset_name: cake_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-4691 + dataset_size: 198.5MB + statistics: *id002 + dataset_uuid: ac6999bc-70a1-42a2-9b0c-7da1a22d297c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the cake with the left gripper + - Place the cake on the white basket with the left gripper + - Grasp the cake with the right gripper + - Place the cake on the white basket with the right gripper + - Static + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml index 6f86f147d5799b7a999d873eedf416093fbc50fd..1ae5839557e0c2c96d016a9ac2e269281b48ada5 100644 --- a/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml +++ b/dataset_info/AIRBOT_MMK2_chop_the_scallions.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_chop_the_scallions +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: chop_the_scallions -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- cut -tasks: Grasp the kitchen knife with the right gripper -objects: +dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-14308 -dataset_size: 573.9MB -statistics: - total_episodes: 50 - total_frames: 14308 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the kitchen knife with the right gripper sub_tasks: - Grasp the kitchen knife with the right gripper - Press the scallion with the left gripper @@ -49,7 +55,31 @@ sub_tasks: - Abnormal - Cut scallions with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- cut +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 14308 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 14308 +dataset_size: 573.9MB +data_structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,46 +161,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_chop_the_scallions + dataset_name: chop_the_scallions + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - cut + tasks: Grasp the kitchen knife with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-14308 + dataset_size: 573.9MB + statistics: *id002 + dataset_uuid: 5beeb056-0ab1-4611-8791-0f80b7dc82d2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the kitchen knife with the right gripper + - Press the scallion with the left gripper + - Place the kitchen knife back on the knife holder with the right gripper + - Static + - End + - Abnormal + - Cut scallions with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml index 837e46caf15b1a6b70dbf81b63fcc3cf9e893b23..9285d91cf218b6dc4f77f8293fbaa28050894617 100644 --- a/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_clean_the_desktop +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_the_desktop -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8709 -dataset_size: 327.5MB -statistics: - total_episodes: 49 - total_frames: 8709 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the tissue with the right gripper @@ -46,7 +53,30 @@ sub_tasks: - Place the tissue on the white lid with the right gripper - Grasp the umbrella with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 8709 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8709 +dataset_size: 327.5MB +data_structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,46 +158,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_clean_the_desktop + dataset_name: clean_the_desktop + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8709 + dataset_size: 327.5MB + statistics: *id002 + dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d999 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the tissue with the right gripper + - Place the umbrella on the white lid with the left gripper + - Place the tissue on the white lid with the right gripper + - Grasp the umbrella with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml index 0711ec7b173cf313aad720dafb0276a2f8e0857d..8295f25e5b5e8a95f7388a027932919fcbe53443 100644 --- a/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml +++ b/dataset_info/AIRBOT_MMK2_clean_the_desktop_a.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_clean_the_desktop_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_the_desktop_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the calculator case in the center of table with right gripper -objects: +dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9819 -dataset_size: 338.3MB -statistics: - total_episodes: 50 - total_frames: 9819 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the calculator case in the center of table with right gripper sub_tasks: - Place the calculator case in the center of table with right gripper - Grasp the calculator case with left gripper - Pass the calculator case to right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9819 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9819 +dataset_size: 338.3MB +data_structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,46 +157,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_clean_the_desktop_a + dataset_name: clean_the_desktop_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the calculator case in the center of table with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9819 + dataset_size: 338.3MB + statistics: *id002 + dataset_uuid: 05f361bc-b167-4623-b38b-a9371aa7d998 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the calculator case in the center of table with right gripper + - Grasp the calculator case with left gripper + - Pass the calculator case to right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_close_the_computer.yaml b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml index 12d4b4e5b8655fc2bb3386d479d86ca925ad239b..d6b0ca4e3b5f3d2f434ed65edc82249e773320de 100644 --- a/dataset_info/AIRBOT_MMK2_close_the_computer.yaml +++ b/dataset_info/AIRBOT_MMK2_close_the_computer.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_close_the_computer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: close_the_computer -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-7754 -dataset_size: 320.9MB -statistics: - total_episodes: 49 - total_frames: 7754 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Press the laptop with the left gripper @@ -47,7 +54,30 @@ sub_tasks: - Abnormal - Close the laptop with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 7754 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 7754 +dataset_size: 320.9MB +data_structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,46 +159,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_close_the_computer + dataset_name: close_the_computer + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-7754 + dataset_size: 320.9MB + statistics: *id002 + dataset_uuid: 5e9fe536-85e9-4e68-b390-51ba7aec5e6b + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Press the laptop with the left gripper + - Release the laptop with the left gripper + - Static + - Abnormal + - Close the laptop with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_cup_storage.yaml b/dataset_info/AIRBOT_MMK2_cup_storage.yaml index 51ba3a00c771553c6f1ad69f23a53f4200df4d71..078def75ba2946ce8060d24f98181ff4fbea50a9 100644 --- a/dataset_info/AIRBOT_MMK2_cup_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_cup_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_cup_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cup_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the blue cup on the plate with the left gripper -objects: +dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12246 -dataset_size: 522.9MB -statistics: - total_episodes: 48 - total_frames: 12246 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the blue cup on the plate with the left gripper sub_tasks: - Place the blue cup on the plate with the left gripper - Place the purple cup on the blue cup with the right gripper @@ -53,7 +60,30 @@ sub_tasks: - Grasp the purple cup with the right gripper - Grasp the blue cup with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 48 + total_frames: 12246 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12246 +dataset_size: 522.9MB +data_structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,44 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_cup_storage + dataset_name: cup_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the blue cup on the plate with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12246 + dataset_size: 522.9MB + statistics: *id002 + dataset_uuid: 4f813d8b-217d-4c36-9698-e2c22c0696ae + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the blue cup on the plate with the left gripper + - Place the purple cup on the blue cup with the right gripper + - Abnormal + - End + - Grasp the purple cup with the right gripper + - Grasp the blue cup with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_desktop_storage.yaml b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml index 8723fcc864db9b9c3eee4b16d8d9cc7cdccc0d7a..7d968f66b45ec7e0951544cd1f9b2e0c35aa46df 100644 --- a/dataset_info/AIRBOT_MMK2_desktop_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_desktop_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_desktop_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: desktop_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the mouse box on the calculator box with the left gripper -objects: +dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-3939 -dataset_size: 171.0MB -statistics: - total_episodes: 13 - total_frames: 3939 - total_tasks: 1 - total_videos: 52 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse box on the calculator box with the left gripper sub_tasks: - Place the mouse box on the calculator box with the left gripper - Grasp the coffee with the right gripper @@ -65,7 +72,30 @@ sub_tasks: - Place the coffee into the plate with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 13 + total_frames: 3939 + total_tasks: 1 + total_videos: 52 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 3939 +dataset_size: 171.0MB +data_structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +150,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,46 +177,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_desktop_storage + dataset_name: desktop_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the mouse box on the calculator box with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-3939 + dataset_size: 171.0MB + statistics: *id002 + dataset_uuid: d50796e5-0306-40cf-8b49-547630740ce6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse box on the calculator box with the left gripper + - Grasp the coffee with the right gripper + - Grasp the mouse box with the left gripper + - Static + - Place the coffee into the plate with the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_desktop_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_diamond_storage.yaml b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml index 04e13f563faca4b2d0c66e432f7ec495cecaec0a..32fb1ce114fb7b3989260827ef34c0a4add7c9d9 100644 --- a/dataset_info/AIRBOT_MMK2_diamond_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_diamond_storage.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_diamond_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: diamond_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- cover -tasks: End -objects: +dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,30 +48,41 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9131 -dataset_size: 426.8MB -statistics: - total_episodes: 50 - total_frames: 9131 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the diamond ring in the box with the right gripper - Close the lid of the box with the left gripper - Grasp the diamond ring with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- cover +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9131 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9131 +dataset_size: 426.8MB +data_structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,46 +164,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_diamond_storage + dataset_name: diamond_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - cover + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9131 + dataset_size: 426.8MB + statistics: *id002 + dataset_uuid: 07392499-4ada-4393-b1db-c07154012f54 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the diamond ring in the box with the right gripper + - Close the lid of the box with the left gripper + - Grasp the diamond ring with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml index 5dd512f1888f49b038dbc85766b4a462cc82d864..f1ec00fb7b8556869b36fc9f30ca8865b4d6d7b3 100644 --- a/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml +++ b/dataset_info/AIRBOT_MMK2_double-sided_tape_placement.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_double-sided_tape_placement +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: double-sided_tape_placement -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the transparent circular ring on the right onto the fanta in the middle with - right gripper -objects: +dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11452 -dataset_size: 553.8MB -statistics: - total_episodes: 50 - total_frames: 11452 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the transparent circular ring on the right onto the fanta + in the middle with right gripper sub_tasks: - Place the transparent circular ring on the right onto the fanta in the middle with right gripper @@ -56,7 +63,30 @@ sub_tasks: - Abnormal - Grasp the transparent circular ring on the right with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 11452 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11452 +dataset_size: 553.8MB +data_structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +141,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,46 +168,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_double-sided_tape_placement + dataset_name: double-sided_tape_placement + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the transparent circular ring on the right onto the fanta in the middle with + right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11452 + dataset_size: 553.8MB + statistics: *id002 + dataset_uuid: 41460366-02ad-4c55-9db3-7dc79d98681d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the transparent circular ring on the right onto the fanta in the middle with + right gripper + - End + - Grasp the transparent circular ring on the left with the left gripper + - Place the transparent circular ring on the left onto the fanta in the middle with + left gripper + - Abnormal + - Grasp the transparent circular ring on the right with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_double-sided_tape_placement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_egg_storage.yaml b/dataset_info/AIRBOT_MMK2_egg_storage.yaml index 8fb3409b44450c434e123f2d92ce1e856ef3b495..0a7671bd7f87b74c20ff64e343a65935058f283b 100644 --- a/dataset_info/AIRBOT_MMK2_egg_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_egg_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_egg_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: egg_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the egg with the left gripper -objects: +dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-13597 -dataset_size: 525.2MB -statistics: - total_episodes: 58 - total_frames: 13597 - total_tasks: 2 - total_videos: 232 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the egg with the left gripper sub_tasks: - Grasp the egg with the left gripper - Grasp the egg with the right gripper @@ -59,7 +66,30 @@ sub_tasks: - Place the egg into bowl with the left gripper - Place the egg into bowl with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 58 + total_frames: 13597 + total_tasks: 2 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 13597 +dataset_size: 525.2MB +data_structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,44 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_egg_storage + dataset_name: egg_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the egg with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-13597 + dataset_size: 525.2MB + statistics: *id002 + dataset_uuid: 63a0fe6b-923c-4ac5-9b65-501c2a9b8c99 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the egg with the left gripper + - Grasp the egg with the right gripper + - Abnormal + - End + - Place the egg into bowl with the left gripper + - Place the egg into bowl with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_food_storage.yaml b/dataset_info/AIRBOT_MMK2_food_storage.yaml index c2c8b686576d5f91541cc0e0ed420e9b18d945df..cc415d48d75513fa9d18e415617add5d766e24e4 100644 --- a/dataset_info/AIRBOT_MMK2_food_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_food_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_food_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: food_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the cake from the table and with the left gripper -objects: +dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -88,23 +108,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-58969 -dataset_size: 2.4GB -statistics: - total_episodes: 344 - total_frames: 58969 - total_tasks: 7 - total_videos: 1376 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the cake from the table and with the left gripper sub_tasks: - Grasp the cake from the table and with the left gripper - Place the shrimp into the plate with the right gripper @@ -133,7 +140,30 @@ sub_tasks: - Abnormal - Grasp the shrimp with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -141,7 +171,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 344 + total_frames: 58969 + total_tasks: 7 + total_videos: 1376 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 58969 +dataset_size: 2.4GB +data_structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -150,13 +218,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -174,44 +245,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_food_storage + dataset_name: food_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the cake from the table and with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-58969 + dataset_size: 2.4GB + statistics: *id002 + dataset_uuid: 9c369848-06e7-404b-b234-c5f7a829f345 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the cake from the table and with the left gripper + - Place the shrimp into the plate with the right gripper + - Close the lid of the egg storage box with the left gripper + - Place the potato into the left compartment of the storage box with the left gripper + - Grasp the ice cream with the right gripper + - Place the braised pork in brown sauce into the plate with the left gripper + - Grasp the potato with the left gripper + - Place the cake into the bowl with the left gripper + - Place the egg into the egg storage box with the right gripper + - Grasp the egg with the left gripper + - Place the egg into the plate with the left gripper + - Grasp the egg with the right gripper + - Place the egg into the plate with the right gripper + - Place the cake onto the block toy with the left gripper + - Place the cake onto the block toy with the right gripper + - End + - Place the ice cream into the plate with the right gripper + - Grasp the cake from the table and with the right gripper + - Place the sponge on the table with the left gripper + - Grasp the braised pork in brown sauce with the left gripper + - Grasp the cake with the left gripper + - Static + - Grasp the sponge from the plate and with the left gripper + - Place the cake into the plate with the right gripper + - Abnormal + - Grasp the shrimp with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_item_storage.yaml b/dataset_info/AIRBOT_MMK2_item_storage.yaml index a0d9144bf046d5936e1aa8c7ee8a2f832a4a1fa0..c38b1053a72ba992a0e9e4a3249bc0b81926e798 100644 --- a/dataset_info/AIRBOT_MMK2_item_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_item_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_item_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: item_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the umbrella with the left gripper -objects: +dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: able @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-18773 -dataset_size: 717.3MB -statistics: - total_episodes: 72 - total_frames: 18773 - total_tasks: 2 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the umbrella with the left gripper sub_tasks: - Grasp the umbrella with the left gripper - End @@ -75,7 +82,30 @@ sub_tasks: - Place the bowl into the yellow basket with the right gripper - Grasp the cup with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -83,7 +113,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 72 + total_frames: 18773 + total_tasks: 2 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 18773 +dataset_size: 717.3MB +data_structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -92,13 +160,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -116,44 +187,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_item_storage + dataset_name: item_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the umbrella with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-18773 + dataset_size: 717.3MB + statistics: *id002 + dataset_uuid: cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the umbrella with the left gripper + - End + - Grasp the bowl with the right gripper + - Grasp the bowl with the left gripper + - Place the cup into the white basket with the right gripper + - Static + - Place the umbrella into the white basket with the left gripper + - Place the bowl into the yellow basket with the left gripper + - Place the bowl into the yellow basket with the right gripper + - Grasp the cup with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml index 93594f5077729d2b384c879643069308c72aa44d..069fe88fafa6da3e4ff874d6e23a784e7fe96f2d 100644 --- a/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_lemon_and_orange_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_lemon_and_orange_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: lemon_and_orange_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8975 -dataset_size: 286.8MB -statistics: - total_episodes: 29 - total_frames: 8975 - total_tasks: 1 - total_videos: 116 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Static @@ -60,7 +67,30 @@ sub_tasks: - Grasp the lemon with the left gripper - Grasp the orange with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 29 + total_frames: 8975 + total_tasks: 1 + total_videos: 116 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8975 +dataset_size: 286.8MB +data_structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_lemon_and_orange_storage + dataset_name: lemon_and_orange_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8975 + dataset_size: 286.8MB + statistics: *id002 + dataset_uuid: 0d0b881a-6584-4c86-a5de-2def6bfdaa68 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Static + - End + - Place the lemon into the left compartment of the storage box with the left gripper + - Place the orange into the right compartment of the storage box with the right + gripper + - Grasp the lemon with the left gripper + - Grasp the orange with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_lemon_and_orange_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml index 424620a0f9fcfe0793f9b0c4da77167c104caf04..afdaa34109d6030a6322d845ba48d9c0fb2a5a48 100644 --- a/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_medicine_bottle_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_medicine_bottle_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: medicine_bottle_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the white bottle with the left gripper -objects: +dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-16023 -dataset_size: 467.8MB -statistics: - total_episodes: 49 - total_frames: 16023 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the white bottle with the left gripper sub_tasks: - Grasp the white bottle with the left gripper - Static @@ -60,7 +67,30 @@ sub_tasks: - Place the white bottle on the white board with the left gripper - Place the white bottle on the white board with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 16023 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 16023 +dataset_size: 467.8MB +data_structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_medicine_bottle_storage + dataset_name: medicine_bottle_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the white bottle with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-16023 + dataset_size: 467.8MB + statistics: *id002 + dataset_uuid: dd96582f-4eb0-43ad-b486-538898f0f0fe + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the white bottle with the left gripper + - Static + - End + - Abnormal + - Grasp the white bottle the right gripper + - Place the white bottle on the white board with the left gripper + - Place the white bottle on the white board with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_medicine_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml index 92fbebf8d21fdaa2ae610cd4f35c9f35b503545c..8695c683de52d60bc8905dd474372800dbe44ca9 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_calculator_box.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_mobile_calculator_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_calculator_box -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the calculator case with left gripper -objects: +dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-34396 -dataset_size: 1.1GB -statistics: - total_episodes: 150 - total_frames: 34396 - total_tasks: 2 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the calculator case with left gripper sub_tasks: - Grasp the calculator case with left gripper - End @@ -57,7 +64,30 @@ sub_tasks: - Pass the calculator case to right gripper - Grasp the white box with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 150 + total_frames: 34396 + total_tasks: 2 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 34396 +dataset_size: 1.1GB +data_structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,46 +169,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_mobile_calculator_box + dataset_name: mobile_calculator_box + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the calculator case with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-34396 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: 7629d634-2d89-41ad-a722-364a319f374b + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the calculator case with left gripper + - End + - Place the calculator case in the center of table with right gripper + - Place the white box in the center of table with right gripper + - Pass the white box to right gripper + - Grasp the yellow book with left gripper + - Place the yellow book in the center of table with right gripper + - Pass the yellow book to right gripper + - Pass the calculator case to right gripper + - Grasp the white box with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_mobile_car.yaml b/dataset_info/AIRBOT_MMK2_mobile_car.yaml index cde2e5d3fc9d157661b12f49841125784e093064..a6b5f7942de8bb7c1f06c72c06901c9cbe32e8c8 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_car.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_car.yaml @@ -1,13 +1,35 @@ -path: AIRBOT_MMK2_mobile_car +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_car -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- push -tasks: End -objects: +dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -20,30 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6897 -dataset_size: 175.6MB -statistics: - total_episodes: 50 - total_frames: 6897 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Push the toy car from left to right with the left gripper - Static - Abnormal - 'null' -annotations: +atomic_actions: +- push +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 6897 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6897 +dataset_size: 175.6MB +data_structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +128,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,44 +155,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_mobile_car + dataset_name: mobile_car + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - push + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6897 + dataset_size: 175.6MB + statistics: *id002 + dataset_uuid: 51dbc118-d1f9-4b26-9b28-98863d08f696 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Push the toy car from left to right with the left gripper + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml index 69208ba36997dd16d28a350d4261f18077bcf414..578a915a7fdfc95f021474176ca4d0f37b91297a 100644 --- a/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_mobile_phone_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_mobile_phone_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_phone_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9492 -dataset_size: 496.3MB -statistics: - total_episodes: 49 - total_frames: 9492 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the telephone on the table with the right gripper @@ -54,7 +61,30 @@ sub_tasks: - Grasp the telephone with the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 9492 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9492 +dataset_size: 496.3MB +data_structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +166,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_mobile_phone_storage + dataset_name: mobile_phone_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9492 + dataset_size: 496.3MB + statistics: *id002 + dataset_uuid: ae74a19b-7e4c-4f10-b378-faa014a9f006 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the telephone on the table with the right gripper + - Static + - Place the telephone on the box with the left gripper + - Grasp the telephone with the left gripper + - Grasp the telephone with the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_open_notebook.yaml b/dataset_info/AIRBOT_MMK2_open_notebook.yaml index d6a90916cf258eb2b9b02dc2eeefba86251c7382..b8fe24428179cf9c867ed9177494aa3980c192ff 100644 --- a/dataset_info/AIRBOT_MMK2_open_notebook.yaml +++ b/dataset_info/AIRBOT_MMK2_open_notebook.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_open_notebook +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_notebook -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- open -- hold -tasks: Static -objects: +dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11734 -dataset_size: 432.3MB -statistics: - total_episodes: 50 - total_frames: 11734 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - End @@ -47,7 +54,30 @@ sub_tasks: - Open the laptop with the left gripper - Grasp the laptop with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- open +- hold +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 11734 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11734 +dataset_size: 432.3MB +data_structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,45 +159,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_open_notebook + dataset_name: open_notebook + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - open + - hold + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11734 + dataset_size: 432.3MB + statistics: *id002 + dataset_uuid: f7156fc6-87bb-4662-b1ff-9cf8de2c4742 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - End + - Release the laptop with the right gripper + - Press the laptop with the right gripper + - Open the laptop with the left gripper + - Grasp the laptop with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml index a4df44a277dfd0e3913e11df106b5759877d2d37..d9d8ebfb33d8154866ae4ec84173b6d7840388ca 100644 --- a/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml +++ b/dataset_info/AIRBOT_MMK2_organize_and_place_books.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_organize_and_place_books +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: organize_and_place_books -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the yellow book on the white book with the right gripper -objects: +dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9838 -dataset_size: 372.1MB -statistics: - total_episodes: 48 - total_frames: 9838 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the yellow book on the white book with the right gripper sub_tasks: - Place the yellow book on the white book with the right gripper - Static @@ -46,7 +53,30 @@ sub_tasks: - Deliver the yellow book from left gripper to right gripper - Grasp the yellow book with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 48 + total_frames: 9838 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9838 +dataset_size: 372.1MB +data_structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,46 +158,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_organize_and_place_books + dataset_name: organize_and_place_books + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the yellow book on the white book with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9838 + dataset_size: 372.1MB + statistics: *id002 + dataset_uuid: 6782c838-a0d2-4a8e-a50b-cc092bb2a215 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the yellow book on the white book with the right gripper + - Static + - End + - Deliver the yellow book from left gripper to right gripper + - Grasp the yellow book with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_organize_books.yaml b/dataset_info/AIRBOT_MMK2_organize_books.yaml index 08c2a29eb5e5d681398621a55fd375f90b8d5a0d..9093d77a62c8659435b1a5ceba27e4d3c838cfbc 100644 --- a/dataset_info/AIRBOT_MMK2_organize_books.yaml +++ b/dataset_info/AIRBOT_MMK2_organize_books.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_organize_books +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: organize_books -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9576 -dataset_size: 439.6MB -statistics: - total_episodes: 50 - total_frames: 9576 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Grasp the yellow book with the right gripper - Place the yellow book into the front mezzanine of the bookshelf with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9576 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9576 +dataset_size: 439.6MB +data_structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,45 +163,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_organize_books + dataset_name: organize_books + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9576 + dataset_size: 439.6MB + statistics: *id002 + dataset_uuid: b36aed44-2805-4713-8d48-a14bebf79671 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Grasp the yellow book with the right gripper + - Place the yellow book into the front mezzanine of the bookshelf with the right + gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml index c4a513be7e4a92af2b2414c18a063c970221f019..d30abce485f776e91be0f4c4d097e0ee89d476b8 100644 --- a/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml +++ b/dataset_info/AIRBOT_MMK2_place_cookies_and_beer.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_cookies_and_beer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_cookies_and_beer -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the bagged cookies with the left gripper -objects: +dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10519 -dataset_size: 515.1MB -statistics: - total_episodes: 50 - total_frames: 10519 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the bagged cookies with the left gripper sub_tasks: - Grasp the bagged cookies with the left gripper - End @@ -58,7 +65,30 @@ sub_tasks: - Place the bagged cookies on the white basket with the left gripper - Place the beer mug on the white basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 10519 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10519 +dataset_size: 515.1MB +data_structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +143,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,46 +170,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_cookies_and_beer + dataset_name: place_cookies_and_beer + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the bagged cookies with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10519 + dataset_size: 515.1MB + statistics: *id002 + dataset_uuid: a380537f-44a3-457c-8113-67604aec65a7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the bagged cookies with the left gripper + - End + - Grasp the beer mug with the right gripper + - Place the bagged cookies on the white basket with the left gripper + - Place the beer mug on the white basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_basin.yaml b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml index 0c1306325757499fc40ccccdc6bce43090a3d7e4..f97f48373361ed16c331bdbea8fd94ee7f690feb 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_basin.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_basin.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_basin +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_basin -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,35 +42,45 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-7672 -dataset_size: 272.9MB -statistics: - total_episodes: 50 - total_frames: 7672 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Place the basin on the table with the right gripper - Grasp the basin with the right gripper - End -- 'Lift the basin with the left gripper ' -- 'Grasp the basin with the left gripper ' +- Lift the basin with the left gripper +- Grasp the basin with the left gripper - Lift the basin with the right gripper -- 'Place the basin on the table with the left gripper ' +- Place the basin on the table with the left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +88,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 7672 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 7672 +dataset_size: 272.9MB +data_structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +135,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,46 +162,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_basin + dataset_name: place_the_basin + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-7672 + dataset_size: 272.9MB + statistics: *id002 + dataset_uuid: 14a514fa-2a43-4b79-bcf6-c7d01e427623 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Place the basin on the table with the right gripper + - Grasp the basin with the right gripper + - End + - 'Lift the basin with the left gripper ' + - 'Grasp the basin with the left gripper ' + - Lift the basin with the right gripper + - 'Place the basin on the table with the left gripper ' + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml index da5cfe53dc992416e955b35176f868cdba769cf0..a26df0ae43c3b639bdeb911de5e23b457028a868 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_blue_and_purple_blocks.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_blue_and_purple_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_blue_and_purple_blocks -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the purple cube block with the left gripper -objects: +dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10277 -dataset_size: 502.1MB -statistics: - total_episodes: 50 - total_frames: 10277 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the purple cube block with the left gripper sub_tasks: - Grasp the purple cube block with the left gripper - Grasp the blue cube block with the right gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the blue cube block on the purple cube block with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 10277 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10277 +dataset_size: 502.1MB +data_structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,46 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_blue_and_purple_blocks + dataset_name: place_the_blue_and_purple_blocks + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the purple cube block with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10277 + dataset_size: 502.1MB + statistics: *id002 + dataset_uuid: 515b60a8-59ef-485b-bd22-34f963fd853c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the purple cube block with the left gripper + - Grasp the blue cube block with the right gripper + - Place the purple cube block on the plate with the left gripper + - Static + - Place the blue cube block on the purple cube block with the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_books.yaml b/dataset_info/AIRBOT_MMK2_place_the_books.yaml index c9442f7d5ac34fd1cdd33b5aaa7d3a96d1796eec..461d28e0f67d27576f3c8058fb2b66f2193bc093 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_books.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_books.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_place_the_books +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_books -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- push -tasks: Push the book from right to left with the right gripper -objects: +dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-20564 -dataset_size: 1.1GB -statistics: - total_episodes: 49 - total_frames: 20564 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Push the book from right to left with the right gripper sub_tasks: - Push the book from right to left with the right gripper - Grasp the book with the left gripper @@ -54,7 +60,31 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- push +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 20564 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 20564 +dataset_size: 1.1GB +data_structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +166,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_books + dataset_name: place_the_books + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - push + tasks: Push the book from right to left with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-20564 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: e4617854-ddc2-4d6e-b108-2369485a9167 + language: *id003 + task_categories: *id004 + sub_tasks: + - Push the book from right to left with the right gripper + - Grasp the book with the left gripper + - Place the book into the front mezzanine of the bookshelf with the left gripper + - Static + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml index 3df389e9a96215962ff517abadd2879710200067..46b20dfd62034d6d48ddd0374f27f001f1e43a38 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_building_blocks.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_building_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_building_blocks -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- open -- hold -tasks: Abnormal -objects: +dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-14173 -dataset_size: 455.5MB -statistics: - total_episodes: 43 - total_frames: 14173 - total_tasks: 1 - total_videos: 172 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Place the green cuboid block into the plate with the right gripper @@ -54,7 +61,30 @@ sub_tasks: - End - Grasp the green cuboid block with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- open +- hold +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 43 + total_frames: 14173 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 14173 +dataset_size: 455.5MB +data_structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +166,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_building_blocks + dataset_name: place_the_building_blocks + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - open + - hold + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-14173 + dataset_size: 455.5MB + statistics: *id002 + dataset_uuid: e309be0e-14ed-4d1a-bef2-0a030776d5f6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Place the green cuboid block into the plate with the right gripper + - Static + - Grasp the red cuboid block with the left gripper + - Place the red cuboid block into the plate with the left gripper + - End + - Grasp the green cuboid block with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_cake.yaml b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml index 4a7d766c8f0f182bc5416b9d04ac7cfce795b463..8a675b3a3102dbf17b8fbdac5f2c87a6aa3ab965 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_cake.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_cake.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_cake +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_cake -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the cake on the yellow cube block with the left gripper -objects: +dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -58,23 +78,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-50001 -dataset_size: 2.3GB -statistics: - total_episodes: 249 - total_frames: 50001 - total_tasks: 5 - total_videos: 996 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the cake on the yellow cube block with the left gripper sub_tasks: - Place the cake on the yellow cube block with the left gripper - Grasp the bagged cake with the left gripper @@ -96,7 +103,30 @@ sub_tasks: - Place the bagged cake on the white plate with the right gripper - Place the cake on the blue cube block with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -104,7 +134,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 249 + total_frames: 50001 + total_tasks: 5 + total_videos: 996 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 50001 +dataset_size: 2.3GB +data_structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -113,13 +181,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -137,45 +208,135 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_cake + dataset_name: place_the_cake + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the cake on the yellow cube block with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-50001 + dataset_size: 2.3GB + statistics: *id002 + dataset_uuid: 9dd9223d-2d05-47a8-bfd0-0884a7f571ed + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the cake on the yellow cube block with the left gripper + - Grasp the bagged cake with the left gripper + - Grasp the cake on the plate with the right gripper + - Place the cake on the table with the right gripper + - Abnormal + - Static + - Grasp the cake with the left gripper + - Place the ice cream into the white basket with the right gripper + - Place the cake into the white basket with the left gripper + - Place the ice cream into the white basket with the left gripper + - Grasp the ice cream with the right gripper + - Grasp the ice cream with the left gripper + - Grasp the bagged cake with the right gripper + - Place the cake into the white plate with the left gripper + - Place the bagged cake on the white plate with the left gripper + - End + - Grasp the cake with the right gripper + - Place the bagged cake on the white plate with the right gripper + - Place the cake on the blue cube block with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml index 9c9861e9f8b10b7c9845eb7720a5402c342a5a69..9b2fb992c5e228bf3cbd32cdfcf9b5ca013902f9 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_glasses_case_and_gold_bars.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_glasses_case_and_gold_bars +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_glasses_case_and_gold_bars -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the glasses case on the middle of the table with the left gripper -objects: +dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10180 -dataset_size: 412.7MB -statistics: - total_episodes: 49 - total_frames: 10180 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the glasses case on the middle of the table with the left + gripper sub_tasks: - Place the glasses case on the middle of the table with the left gripper - End @@ -54,7 +62,30 @@ sub_tasks: - Grasp the gold bar the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +93,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 10180 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10180 +dataset_size: 412.7MB +data_structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +167,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_glasses_case_and_gold_bars + dataset_name: place_the_glasses_case_and_gold_bars + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the glasses case on the middle of the table with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10180 + dataset_size: 412.7MB + statistics: *id002 + dataset_uuid: fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the glasses case on the middle of the table with the left gripper + - End + - Static + - Place the gold bar on the glasses case with the right gripper + - Grasp the glasses case with the left gripper + - Grasp the gold bar the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml index 54bc1855142a721bdb17d12c6ea1467452910fea..9fe97e4490c51bbfe48d888366b3047b8df8d777 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_network_cable_and_mouse_box.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_network_cable_and_mouse_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_network_cable_and_mouse_box -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the blue network cable with the right gripper -objects: +dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11195 -dataset_size: 473.6MB -statistics: - total_episodes: 46 - total_frames: 11195 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the blue network cable with the right gripper sub_tasks: - Grasp the blue network cable with the right gripper - Place the blue network cable into carton with the right gripper @@ -60,7 +67,30 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 46 + total_frames: 11195 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11195 +dataset_size: 473.6MB +data_structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_network_cable_and_mouse_box + dataset_name: place_the_network_cable_and_mouse_box + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the blue network cable with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11195 + dataset_size: 473.6MB + statistics: *id002 + dataset_uuid: 0d29b561-c4c2-4fde-ac84-230716315d3f + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the blue network cable with the right gripper + - Place the blue network cable into carton with the right gripper + - Static + - Grasp the mouse box with the left gripper + - Place the mouse box into carton with the left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_network_cable_and_mouse_box_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml index c961c71a6ac4ebfe8dc30a959f8bdfc33e10625d..33414adafd4f1721ceeb634e72b12d475d099886 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_paper_drawer.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_paper_drawer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_paper_drawer -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the pomegranate on the middle of the table with the right gripper -objects: +dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -178,23 +198,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-167196 -dataset_size: 5.8GB -statistics: - total_episodes: 688 - total_frames: 167196 - total_tasks: 15 - total_videos: 2752 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pomegranate on the middle of the table with the right + gripper sub_tasks: - Place the pomegranate on the middle of the table with the right gripper - Place the steel tube on the table with the left gripper @@ -266,7 +274,30 @@ sub_tasks: - Static - Place the bullet on the table with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -274,7 +305,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 688 + total_frames: 167196 + total_tasks: 15 + total_videos: 2752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 167196 +dataset_size: 5.8GB +data_structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -283,13 +352,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -307,46 +379,185 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_paper_drawer + dataset_name: place_the_paper_drawer + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the pomegranate on the middle of the table with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-167196 + dataset_size: 5.8GB + statistics: *id002 + dataset_uuid: 36dde00a-6af9-43ec-9c49-3b938ff6f736 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pomegranate on the middle of the table with the right gripper + - Place the steel tube on the table with the left gripper + - Grasp the bowl on the white basket and with the right gripper + - Grasp the green rectangular block on the plate with the left gripper + - Place the mineral water on the table with the left gripper + - Place the bagged waffle on the carton with the left gripper + - Place the green rectangular block on the table with the left gripper + - Grasp the tape measure with the right gripper + - Grasp the tissue on the white lid with the left gripper + - Grasp the vitamin B water on the white lid with the left gripper + - Place the shark dagger on the white basket with the right gripper + - Place the tape measure on the table with the right gripper + - Place the tissue on the table with the right gripper + - Place the sponge on the table with the left gripper + - Grasp the apple with the left gripper + - Place the apple on the left side of the table with the left gripper + - Grasp the pear with the right gripper + - Place the pear on the right side of the table with the right gripper + - Place the calculator box into the storage box with the right gripper + - Grasp the coffee on the white lid with the right gripper + - Grasp the bread with the right gripper + - Grasp the frying pan with the right gripper + - Grasp the phone case box with the left gripper + - Place the calculator box into the storage box with the left gripper + - Grasp the mouse box on the white lid and with the left gripper + - Grasp the orange with the right gripper + - Place the bowl on the table with the right gripper + - Grasp the pomegranate with the right gripper + - Grasp the tissue on the white lid with the right gripper + - Place the coffee on the table with the right gripper + - Place the bread into the plate with the right gripper + - Grasp the calculator box with the left gripper + - Abnormal + - Grasp the steel tube on the cube block with the right gripper + - Place the vitamin B water on the table with the left gripper + - Grasp the toy car on the plate and with the right gripper + - Grasp the peach with the left gripper + - Place the tape measure on the carton with the right gripper + - Place the phone case box into the storage box with the right gripper + - Grasp the cake on the plate with the left gripper + - Place the phone case box into the storage box with the left gripper + - Grasp the toy car on the plate and with the left gripper + - Grasp the calculator box on the white lid and with the right gripper + - Grasp the shark dagger with the left gripper + - Grasp the bagged waffle with the left gripper + - Grasp the mineral water with the left gripper + - Place the pomegranate on the middle of the table with the left gripper + - Grasp the sponge on the white basket and with the left gripper + - Place the peach on the middle of the table with the left gripper + - Place the shark dagger on the white basket with the left gripper + - Push the frying pan on left to right with the left gripper + - Place the steel tube on the table with the right gripper + - End + - Place the tissue on the table with the left gripper + - Grasp the phone case box with the right gripper + - Place the orange on the right side of the table with the right gripper + - Grasp the shark dagger with the right gripper + - Place the cake on the table with the left gripper + - Place the toy car on the table with the left gripper + - Place the toy car on the table with the right gripper + - Grasp the steel tube on the cube block with the left gripper + - Place the calculator box on the table with the right gripper + - Place the mouse box on the table with the left gripper + - Grasp the bullet on the plate with the right gripper + - Place the frying pan on the red cube block with the right gripper + - Place the coffee on the table with the left gripper + - Grasp the calculator box with the right gripper + - Static + - Place the bullet on the table with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_paper_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml index 0400fb061590e0b3b1b028656381941af269dfb7..588c92479e238ae51b5d6626269c37f707e61d40 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_piano_and_the_needle-nose_pliers -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25318 -dataset_size: 826.8MB -statistics: - total_episodes: 49 - total_frames: 25318 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Static @@ -60,7 +67,30 @@ sub_tasks: - Grasp the xylophone with the left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 25318 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 25318 +dataset_size: 826.8MB +data_structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers + dataset_name: place_the_piano_and_the_needle-nose_pliers + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25318 + dataset_size: 826.8MB + statistics: *id002 + dataset_uuid: 230992b4-bba2-4f5b-99ce-03e63d148ce1 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Static + - Place the tongs on the white lid with the right gripper + - Grasp the tongs with the right gripper + - Place the xylophone on the white lid with the left gripper + - Grasp the xylophone with the left gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml index 5f860302a0d51f6ea656fc892fb5fcc4134cb8dc..af9e8944153a673fd877b9566ceaff55065b6a91 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_pliers_and_wallpaper_knife -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Static -objects: +dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8236 -dataset_size: 230.1MB -statistics: - total_episodes: 50 - total_frames: 8236 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - End @@ -60,7 +67,30 @@ sub_tasks: - Grasp the plier with the left gripper - Grasp the utility knife with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 8236 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8236 +dataset_size: 230.1MB +data_structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife + dataset_name: place_the_pliers_and_wallpaper_knife + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8236 + dataset_size: 230.1MB + statistics: *id002 + dataset_uuid: dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - End + - Place the utility knife into white basket with the right gripper + - Place the plier into white basket with the left gripper + - Abnormal + - Grasp the plier with the left gripper + - Grasp the utility knife with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml index 29634d0ce51e943fe0c0a23424099a445fbd7b6e..ae646a908a3963e2b946b891021b7ac3eeab710f 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_shark_toys_and_gold_bars.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_shark_toys_and_gold_bars +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_shark_toys_and_gold_bars -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6486 -dataset_size: 277.0MB -statistics: - total_episodes: 50 - total_frames: 6486 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the whale on the paper box with the left gripper @@ -59,7 +66,30 @@ sub_tasks: - Static - Grasp the gold bar with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 6486 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6486 +dataset_size: 277.0MB +data_structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_shark_toys_and_gold_bars + dataset_name: place_the_shark_toys_and_gold_bars + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6486 + dataset_size: 277.0MB + statistics: *id002 + dataset_uuid: 23b13e76-788e-4ea3-a624-4007f8eaa57e + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the whale on the paper box with the left gripper + - Place the gold bar on the paper box with the right gripper + - Grasp the whale with the left gripper + - Static + - Grasp the gold bar with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml index 4239c05d39438450171b9aab3d873eaeb0fdc7ce..d0ac462793e08726860e3082b62af9e54abe99c4 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_small_bowl_of_canned_food.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_small_bowl_of_canned_food +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_small_bowl_of_canned_food -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-7610 -dataset_size: 313.5MB -statistics: - total_episodes: 50 - total_frames: 7610 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Abnormal - Place the small bowl of canned food on the table with the right gripper - Grasp the small bowl of canned food with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 7610 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 7610 +dataset_size: 313.5MB +data_structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,46 +163,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_small_bowl_of_canned_food + dataset_name: place_the_small_bowl_of_canned_food + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-7610 + dataset_size: 313.5MB + statistics: *id002 + dataset_uuid: a9c7e711-c375-4aa9-8ce2-93c6f016b80d + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Abnormal + - Place the small bowl of canned food on the table with the right gripper + - Grasp the small bowl of canned food with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml index b8f788beaf8153cf928c4afedc723a94d9285243..fa6ec544227e38790f4ca6c58717a118195b9ac3 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_sponge_and_wet_wipes.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_sponge_and_wet_wipes +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_sponge_and_wet_wipes -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the sponge with the left gripper -objects: +dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -52,26 +72,13 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10033 -dataset_size: 390.9MB -statistics: - total_episodes: 90 - total_frames: 10033 - total_tasks: 2 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the sponge with the left gripper sub_tasks: -- 'Grasp the sponge with the left gripper ' -- 'Place the sponge into the white basket with the left gripper ' +- Grasp the sponge with the left gripper +- Place the sponge into the white basket with the left gripper - Grasp the mouse box with the left gripper - Place the wet wipes into the white basket with the right gripper - Grasp the wet wipes with the right gripper @@ -82,7 +89,30 @@ sub_tasks: - Place the phone case box on the white lid with the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -90,7 +120,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 90 + total_frames: 10033 + total_tasks: 2 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10033 +dataset_size: 390.9MB +data_structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -99,13 +167,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -123,46 +194,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_sponge_and_wet_wipes + dataset_name: place_the_sponge_and_wet_wipes + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the sponge with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10033 + dataset_size: 390.9MB + statistics: *id002 + dataset_uuid: ce41bab0-f121-49df-b55f-742a8e05ec09 + language: *id003 + task_categories: *id004 + sub_tasks: + - 'Grasp the sponge with the left gripper ' + - 'Place the sponge into the white basket with the left gripper ' + - Grasp the mouse box with the left gripper + - Place the wet wipes into the white basket with the right gripper + - Grasp the wet wipes with the right gripper + - Static + - End + - Place the mouse box on the white lid with the left gripper + - Grasp the phone case box with the right gripper + - Place the phone case box on the white lid with the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml index 5179a3b5308337b62d1e75a3facbeff2ea8a94f6..c7889d30111ff460ddda6aaf5829fdfb6dfae61a 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_umbrella_and_the_ruler.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_umbrella_and_the_ruler +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_umbrella_and_the_ruler -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the umbrella with the left gripper -objects: +dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-7298 -dataset_size: 242.5MB -statistics: - total_episodes: 42 - total_frames: 7298 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the umbrella with the left gripper sub_tasks: - Grasp the umbrella with the left gripper - Grasp the tape measure with the right gripper @@ -59,7 +66,30 @@ sub_tasks: - Place the tape measure in the white basket with the right gripper - Place the umbrella in the white basket with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 42 + total_frames: 7298 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 7298 +dataset_size: 242.5MB +data_structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_umbrella_and_the_ruler + dataset_name: place_the_umbrella_and_the_ruler + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the umbrella with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-7298 + dataset_size: 242.5MB + statistics: *id002 + dataset_uuid: 327b6447-3184-4211-985a-d0c2d279758c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the umbrella with the left gripper + - Grasp the tape measure with the right gripper + - Static + - End + - Place the tape measure in the white basket with the right gripper + - Place the umbrella in the white basket with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml index 79505fa02adce9df6c324a6a68712ec64f075070..3c8affb39148bbf94c1ef6885889e3ba0bb70f1d 100644 --- a/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml +++ b/dataset_info/AIRBOT_MMK2_place_the_yellow_block.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_place_the_yellow_block +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_yellow_block -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- lower -tasks: Static -objects: +dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10030 -dataset_size: 501.4MB -statistics: - total_episodes: 47 - total_frames: 10030 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - End @@ -54,7 +61,30 @@ sub_tasks: - Place the yellow block on the magic cube with left gripper - Place the yellow block on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- lower +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 10030 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10030 +dataset_size: 501.4MB +data_structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +166,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_place_the_yellow_block + dataset_name: place_the_yellow_block + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - lower + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10030 + dataset_size: 501.4MB + statistics: *id002 + dataset_uuid: 5627f996-6a84-4ee5-942f-6a546d68645f + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - End + - Abnormal + - Grasp the yellow block with left gripper + - Grasp the yellow block on the magic cube with right gripper + - Place the yellow block on the magic cube with left gripper + - Place the yellow block on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml index 52b9522954f692d3e2f75c06bcc8792c5a7b00b0..7006e2dfb2479a65198a54354aa84d5da0b0c9f2 100644 --- a/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml +++ b/dataset_info/AIRBOT_MMK2_play_the_guitar.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_play_the_guitar +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: play_the_guitar -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -tasks: Play ukulele with the right gripper -objects: +dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8574 -dataset_size: 360.3MB -statistics: - total_episodes: 48 - total_frames: 8574 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Play ukulele with the right gripper sub_tasks: - Play ukulele with the right gripper - End @@ -47,7 +53,31 @@ sub_tasks: - Lift the ukulele with the left gripper - Grasp the ukulele with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 48 + total_frames: 8574 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8574 +dataset_size: 360.3MB +data_structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,46 +159,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_play_the_guitar + dataset_name: play_the_guitar + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + tasks: Play ukulele with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8574 + dataset_size: 360.3MB + statistics: *id002 + dataset_uuid: cd4b25f6-e84e-4877-95e0-0c865e5b92a6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Play ukulele with the right gripper + - End + - Place the ukulele on the table with the left gripper + - Lift the ukulele with the left gripper + - Grasp the ukulele with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_play_the_guitar_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_potato_storage.yaml b/dataset_info/AIRBOT_MMK2_potato_storage.yaml index ab2b13c8c8ad974862b5962be02ea5a13b45cc3d..163145c8ba5b58f939d2e63953b3a18219d84d1e 100644 --- a/dataset_info/AIRBOT_MMK2_potato_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_potato_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_potato_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: potato_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6958 -dataset_size: 252.5MB -statistics: - total_episodes: 50 - total_frames: 6958 - total_tasks: 2 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the potato into the left compartment of the storage box with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Grasp the potato with the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 6958 + total_tasks: 2 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6958 +dataset_size: 252.5MB +data_structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,45 +165,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_potato_storage + dataset_name: potato_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6958 + dataset_size: 252.5MB + statistics: *id002 + dataset_uuid: 8fcf234f-ff14-4dc4-9bae-a32238fde9ed + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the potato into the left compartment of the storage box with the left gripper + - Grasp the potato with the left gripper + - Place the potato into the right compartment of the storage box with the right + gripper + - Grasp the potato with the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml index 675b53036e710c50fac8b5d4594913b93092f863..d7a59cc07f376e53fb0485d7447257258e11672a 100644 --- a/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml +++ b/dataset_info/AIRBOT_MMK2_pour_out_the_beauty_blender.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_pour_out_the_beauty_blender +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_out_the_beauty_blender -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the paper cup on the table with right gripper -objects: +dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-17577 -dataset_size: 652.5MB -statistics: - total_episodes: 47 - total_frames: 17577 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the paper cup on the table with right gripper sub_tasks: - Place the paper cup on the table with right gripper - Pour the bullets from the paper cup into the bowl with right gripper @@ -59,7 +66,30 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 17577 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 17577 +dataset_size: 652.5MB +data_structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_pour_out_the_beauty_blender + dataset_name: pour_out_the_beauty_blender + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the paper cup on the table with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-17577 + dataset_size: 652.5MB + statistics: *id002 + dataset_uuid: 9bd6999e-de56-4b21-b103-e3054f98d4ef + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the paper cup on the table with right gripper + - Pour the bullets from the paper cup into the bowl with right gripper + - Static + - Grasp the paper cup containing bullets with right gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml index 1a23b3aec3bdefdc97073aaaffccfa6b9d7a6bc9..6bdbd3515a8072c26f26a79785facd81225e271b 100644 --- a/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml +++ b/dataset_info/AIRBOT_MMK2_pull_the_syringe_piston.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_pull_the_syringe_piston +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pull_the_syringe_piston -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9990 -dataset_size: 473.9MB -statistics: - total_episodes: 50 - total_frames: 9990 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the syringe with the left gripper @@ -49,7 +56,30 @@ sub_tasks: - Static - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9990 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9990 +dataset_size: 473.9MB +data_structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,46 +161,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_pull_the_syringe_piston + dataset_name: pull_the_syringe_piston + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9990 + dataset_size: 473.9MB + statistics: *id002 + dataset_uuid: 0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the syringe with the left gripper + - Pull the piston with the right gripper + - Lift the syringe with the left gripper + - Grasp the piston with the right gripper + - Place the syringe on the table with the left gripper + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml index 0646fca83d22b8f9ff5d518742ea7fa0c79d189e..eba22c47437a1614f45ffb219e76f21337d600d3 100644 --- a/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_pumpkin_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_pumpkin_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pumpkin_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12358 -dataset_size: 462.9MB -statistics: - total_episodes: 49 - total_frames: 12358 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Grasp the pumpkin with the right gripper @@ -52,7 +59,30 @@ sub_tasks: - Place the pumpkin into the right compartment of the storage box - Place the pumpkin into the right compartment of the storage box with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 12358 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12358 +dataset_size: 462.9MB +data_structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,46 +164,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_pumpkin_storage + dataset_name: pumpkin_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12358 + dataset_size: 462.9MB + statistics: *id002 + dataset_uuid: 591a516b-5f33-44ad-aa8a-b9b96c17194d + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Grasp the pumpkin with the right gripper + - End + - Place the pumpkin into the right compartment of the storage box + - Place the pumpkin into the right compartment of the storage box with the right + gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml index cbb8b29f92f97b1d342442872ae0803a5340698e..a8efaa529f87e470fd115b7127cf00a3c571c640 100644 --- a/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_push_building_blocks.yaml @@ -1,13 +1,35 @@ -path: AIRBOT_MMK2_push_building_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: push_building_blocks -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- push -tasks: Abnormal -objects: +dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -20,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-40790 -dataset_size: 1.6GB -statistics: - total_episodes: 139 - total_frames: 40790 - total_tasks: 3 - total_videos: 556 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Move the green cylinder to the right side of the box with right gripper @@ -48,7 +57,28 @@ sub_tasks: gripper - Move the blue cube to the upper right side of the box with right gripper - 'null' -annotations: +atomic_actions: +- push +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 139 + total_frames: 40790 + total_tasks: 3 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 40790 +dataset_size: 1.6GB +data_structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,46 +160,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_push_building_blocks + dataset_name: push_building_blocks + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - push + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-40790 + dataset_size: 1.6GB + statistics: *id002 + dataset_uuid: 6428216e-f07b-4971-8ba9-ac3162e1d2b0 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Move the green cylinder to the right side of the box with right gripper + - Move the yellow cube to the upper right side of the box with right gripper + - Move the orange cylinder to the right side of the box with right gripper + - Static + - End + - Move the wooden arched building blocks to the upper right side of the box with + right gripper + - Move the blue cube to the upper right side of the box with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_push_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_push_piston.yaml b/dataset_info/AIRBOT_MMK2_push_piston.yaml index deca9c496a9bc4649641b897eee2ecb18e46b167..39c5ededbbf4a9fcc0c845a27abcb62c71140c43 100644 --- a/dataset_info/AIRBOT_MMK2_push_piston.yaml +++ b/dataset_info/AIRBOT_MMK2_push_piston.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_push_piston +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: push_piston -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-15278 -dataset_size: 598.3MB -statistics: - total_episodes: 47 - total_frames: 15278 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Push the piston with the right gripper @@ -48,7 +55,30 @@ sub_tasks: - Place the syringe on the table with the left gripper - Lift the syringe with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 15278 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 15278 +dataset_size: 598.3MB +data_structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,44 +160,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_push_piston + dataset_name: push_piston + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-15278 + dataset_size: 598.3MB + statistics: *id002 + dataset_uuid: eef01bf4-6600-4121-9501-b7651d8e26c5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Push the piston with the right gripper + - End + - Grasp the syringe with the left gripper + - Grasp the piston with the right gripper + - Place the syringe on the table with the left gripper + - Lift the syringe with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml index 450f429aa56b34dd05076aab8793ef4aa8cab1c0..60c31f05f029cffc8a65d6c6294a1b369a05e4d8 100644 --- a/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml +++ b/dataset_info/AIRBOT_MMK2_screw_the_bottle_cap.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_screw_the_bottle_cap +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: screw_the_bottle_cap -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the bottle on the table with the left gripper -objects: +dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-16965 -dataset_size: 632.3MB -statistics: - total_episodes: 50 - total_frames: 16965 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the bottle on the table with the left gripper sub_tasks: - Place the bottle on the table with the left gripper - Grasp the bottle with the left gripper @@ -47,7 +54,30 @@ sub_tasks: - Lift the bottle up with the left gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 16965 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 16965 +dataset_size: 632.3MB +data_structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,46 +159,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_screw_the_bottle_cap + dataset_name: screw_the_bottle_cap + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the bottle on the table with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-16965 + dataset_size: 632.3MB + statistics: *id002 + dataset_uuid: 311c08d2-fc43-43ec-afbf-f038c651ad6a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the bottle on the table with the left gripper + - Grasp the bottle with the left gripper + - Unscrew the bottle cap with the right hand while holding the bottle with the left + hand + - Lift the bottle up with the left gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_square_arrangement.yaml b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml index 633d0ac5475fef6354aa89dec0e746db56f6a503..d385987808ea79b270f17a0cdfd39d24785278fc 100644 --- a/dataset_info/AIRBOT_MMK2_square_arrangement.yaml +++ b/dataset_info/AIRBOT_MMK2_square_arrangement.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_square_arrangement +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: square_arrangement -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- lower -tasks: Grasp the green cube block with the right gripper -objects: +dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6572 -dataset_size: 308.4MB -statistics: - total_episodes: 49 - total_frames: 6572 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the green cube block with the right gripper sub_tasks: - Grasp the green cube block with the right gripper - Grasp the blue cube block with the left gripper @@ -46,7 +53,30 @@ sub_tasks: - Place the blue cube block on the red cube block with the left gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- lower +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 6572 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6572 +dataset_size: 308.4MB +data_structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,46 +158,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_square_arrangement + dataset_name: square_arrangement + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - lower + tasks: Grasp the green cube block with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6572 + dataset_size: 308.4MB + statistics: *id002 + dataset_uuid: cd2eedcd-a8fc-496e-96d2-199d2b7e5570 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the green cube block with the right gripper + - Grasp the blue cube block with the left gripper + - Place the green cube block on the yellow cube block with the right gripper + - Place the blue cube block on the red cube block with the left gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_square_arrangement_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml index dd5d8bbb27ee4dc4465ee5deed95eb51a979ac4b..6100f2c9e17ef6de2aedf1285a0124bb7b11ca4b 100644 --- a/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_stacking_blocks.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_stacking_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stacking_blocks -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the yellow cube on the orange cube with the right gripper -objects: +dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-52766 -dataset_size: 2.2GB -statistics: - total_episodes: 213 - total_frames: 52766 - total_tasks: 5 - total_videos: 852 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the yellow cube on the orange cube with the right gripper sub_tasks: - Place the yellow cube on the orange cube with the right gripper - Static @@ -65,7 +72,30 @@ sub_tasks: - Grasp the yellow cube with the right gripper - Place theblue cube on the big red cube with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 213 + total_frames: 52766 + total_tasks: 5 + total_videos: 852 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 52766 +dataset_size: 2.2GB +data_structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +150,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,46 +177,140 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_stacking_blocks + dataset_name: stacking_blocks + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the yellow cube on the orange cube with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-52766 + dataset_size: 2.2GB + statistics: *id002 + dataset_uuid: cdff2820-6ed6-414f-add9-1454a57a81b2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the yellow cube on the orange cube with the right gripper + - Static + - Grasp the blue rhombic cuboid block with the right gripper + - Grasp the red cuboid block with the left gripper + - Grasp the blue small cube with the left gripper + - Place the red small cube on the blue small cube with the right gripper + - Place the red cuboid block in the center of view with the left gripper + - Grasp the big red cube with the left gripper + - Abnormal + - Place the orange cube on the yellow cube with the right gripper + - Place the green small cube on the blue small cube with the right gripper + - Grasp the green small cube with the right gripper + - Grasp the red small cube with the right gripper + - Grasp the blue cube with the right gripper + - Place the blue cube on the red cube with the left gripper + - Grasp the orange cube with the right gripper + - Grasp the blue cube with the left gripper + - Place the blue small cube on the small table with the left gripper + - End + - Place the blue rhombic cuboid block on the red cuboid block with the right gripper + - Place the blue small cube on the yellow small cube with the left gripper + - Place the big red cube in the center of view with the left gripper + - Grasp the yellow cube with the right gripper + - Place theblue cube on the big red cube with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml index 026d93ef4b9be577335ef84aa964730b929d06d9..d722572b055143b0ff3c89751b97531528e3a77b 100644 --- a/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_box_for_mouse_and_sponge.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_box_for_mouse_and_sponge +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_box_for_mouse_and_sponge -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the sponge with the right gripper -objects: +dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9471 -dataset_size: 299.3MB -statistics: - total_episodes: 49 - total_frames: 9471 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the sponge with the right gripper sub_tasks: - Grasp the sponge with the right gripper - Static @@ -60,7 +67,30 @@ sub_tasks: - Place the sponge on the white plate with the right gripper - Grasp the box with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 9471 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9471 +dataset_size: 299.3MB +data_structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_box_for_mouse_and_sponge + dataset_name: storage_box_for_mouse_and_sponge + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the sponge with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9471 + dataset_size: 299.3MB + statistics: *id002 + dataset_uuid: 2c6237a9-4c9b-45ce-bd08-c48c42462c93 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the sponge with the right gripper + - Static + - Place the box on the white plate with the left gripper + - End + - Abnormal + - Place the sponge on the white plate with the right gripper + - Grasp the box with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml index 3a42156b07ec6036b48cab4df77d838121bc8968..77bb3ff9dc994e594a1e2e1827e7b77ebbc45a36 100644 --- a/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_computer_box.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_computer_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_computer_box -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the calculator box into the white basket with the right gripper -objects: +dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10024 -dataset_size: 363.7MB -statistics: - total_episodes: 50 - total_frames: 10024 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the calculator box into the white basket with the right gripper sub_tasks: - Place the calculator box into the white basket with the right gripper - Deliver the calculator box from left gripper to right gripper - Grasp the calculator box with the left gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 10024 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10024 +dataset_size: 363.7MB +data_structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,46 +163,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_computer_box + dataset_name: storage_computer_box + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the calculator box into the white basket with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10024 + dataset_size: 363.7MB + statistics: *id002 + dataset_uuid: dc4fba6b-79c1-4977-a7ad-1b159d434505 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the calculator box into the white basket with the right gripper + - Deliver the calculator box from left gripper to right gripper + - Grasp the calculator box with the left gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml index 770db9ee4dd43e7887478425afa1901285ee64e6..d7e1e3d0c992df73b131bf5f319cd1f626449c96 100644 --- a/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_for_building_blocks_and_beauty_sponges -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Graasp the bullet on the plate and with the left gripper -objects: +dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -58,23 +78,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-33906 -dataset_size: 1.0GB -statistics: - total_episodes: 150 - total_frames: 33906 - total_tasks: 3 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Graasp the bullet on the plate and with the left gripper sub_tasks: - Graasp the bullet on the plate and with the left gripper - Abnormal @@ -92,7 +99,30 @@ sub_tasks: - Grasp the wet wipes with the right gripper - Place the green rectangular block on the plate with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -100,7 +130,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 150 + total_frames: 33906 + total_tasks: 3 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 33906 +dataset_size: 1.0GB +data_structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -109,13 +177,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -133,46 +204,131 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges + dataset_name: storage_for_building_blocks_and_beauty_sponges + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Graasp the bullet on the plate and with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-33906 + dataset_size: 1.0GB + statistics: *id002 + dataset_uuid: be857fee-79ab-4aaa-b319-7037bc68d506 + language: *id003 + task_categories: *id004 + sub_tasks: + - Graasp the bullet on the plate and with the left gripper + - Abnormal + - Place the mouse box into the plate with the right gripper + - Grasp the Vitamin B water in the plate with the left gripper + - Place the wet wipes into the plate with the right gripper + - Place the bullet on the table with the left gripper + - Grasp the mouse box with the right gripper + - Place the sponge on the table with the left gripper + - Place the Vitamin B water on the table with the left gripper + - Static + - Graasp the green rectangular block with the right gripper + - End + - Grasp the sponge in the plate with the left gripper + - Grasp the wet wipes with the right gripper + - Place the green rectangular block on the plate with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_storage_item.yaml b/dataset_info/AIRBOT_MMK2_storage_item.yaml index 28375b37af4d983096651008b513f2f6bec2581d..d91a106abaea93ecd28251225d7ceb67186210ff 100644 --- a/dataset_info/AIRBOT_MMK2_storage_item.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_item.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_item +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_item -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the green rectangular block into the blue bowl with the left gripper -objects: +dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8573 -dataset_size: 357.6MB -statistics: - total_episodes: 47 - total_frames: 8573 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the green rectangular block into the blue bowl with the left + gripper sub_tasks: - Place the green rectangular block into the blue bowl with the left gripper - Place the tape measure into the pink plate with the right gripper @@ -66,7 +74,30 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -74,7 +105,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 8573 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8573 +dataset_size: 357.6MB +data_structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -83,13 +152,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -107,44 +179,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_item + dataset_name: storage_item + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the green rectangular block into the blue bowl with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8573 + dataset_size: 357.6MB + statistics: *id002 + dataset_uuid: b53b741f-6c4c-401c-a3cf-83ef26539097 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the green rectangular block into the blue bowl with the left gripper + - Place the tape measure into the pink plate with the right gripper + - Grasp the tape measure with the right gripper + - Static + - Grasp the green rectangular block with the left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml index 3d95839dbba4bab18e9e9942abc71af0add3a732..f7decc0a14fc8457d58d80caef677b05e8d7adb6 100644 --- a/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_remote_control_clip_box_water_bottle -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the water bottle into the cardboard box with the right gripper -objects: +dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,35 +54,45 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9890 -dataset_size: 478.8MB -statistics: - total_episodes: 47 - total_frames: 9890 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the water bottle into the cardboard box with the right gripper sub_tasks: - Place the water bottle into the cardboard box with the right gripper - End - Static - Lift the water bottle with the right gripper -- 'Grasp the remote control clip with the left gripper ' -- 'Lift the remote control clip with the left gripper ' +- Grasp the remote control clip with the left gripper +- Lift the remote control clip with the left gripper - Place the remote control clip into the cardboard box with the left gripper - Abnormal - Grasp the water bottle with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 9890 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9890 +dataset_size: 478.8MB +data_structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,46 +174,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle + dataset_name: storage_remote_control_clip_box_water_bottle + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the water bottle into the cardboard box with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9890 + dataset_size: 478.8MB + statistics: *id002 + dataset_uuid: 993b81b9-2ebd-44d7-933c-d6d77b2851db + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the water bottle into the cardboard box with the right gripper + - End + - Static + - Lift the water bottle with the right gripper + - 'Grasp the remote control clip with the left gripper ' + - 'Lift the remote control clip with the left gripper ' + - Place the remote control clip into the cardboard box with the left gripper + - Abnormal + - Grasp the water bottle with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml index 0fa2d6ec31a3ba7ca8a1ffffb4408c205ec3a37f..53b03e21503d13be8c7473a470bcc6c1c59779de 100644 --- a/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_rubiks_cube_and_cup.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_rubiks_cube_and_cup +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_rubiks_cube_and_cup -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-13979 -dataset_size: 392.2MB -statistics: - total_episodes: 48 - total_frames: 13979 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the paper cup on the magic cube with the left gripper @@ -59,7 +66,30 @@ sub_tasks: - Place the magic cube on the plate with the right gripper - Grasp the paper cup with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 48 + total_frames: 13979 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 13979 +dataset_size: 392.2MB +data_structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_rubiks_cube_and_cup + dataset_name: storage_rubiks_cube_and_cup + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-13979 + dataset_size: 392.2MB + statistics: *id002 + dataset_uuid: a274e48b-ea08-49bb-a762-da873baef867 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the paper cup on the magic cube with the left gripper + - Abnormal + - Grasp the magic cube with the right gripper + - Place the magic cube on the plate with the right gripper + - Grasp the paper cup with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_storage_spoon.yaml b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml index ef162aba4fcb78ab994c777ac5b71fc319a7bc86..f6c6383ab4f4f84a8432698cab1587ffdef6c736 100644 --- a/dataset_info/AIRBOT_MMK2_storage_spoon.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_spoon.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_spoon +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_spoon -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Static -objects: +dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12204 -dataset_size: 363.2MB -statistics: - total_episodes: 49 - total_frames: 12204 - total_tasks: 1 - total_videos: 196 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Grasp the spoon with the right gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the spoon into the basin with the right gripper - Place the spoon into the basin with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 49 + total_frames: 12204 + total_tasks: 1 + total_videos: 196 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12204 +dataset_size: 363.2MB +data_structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,45 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_spoon + dataset_name: storage_spoon + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12204 + dataset_size: 363.2MB + statistics: *id002 + dataset_uuid: d4290af8-7a4d-4868-8a9b-2962225648e8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Grasp the spoon with the right gripper + - End + - Grasp the spoon with the left gripper + - Place the spoon into the basin with the right gripper + - Place the spoon into the basin with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml index 408ef72866b8406d06744ec70a1225bbbfe1ddb9..daf58043414918acaf82e086830ffde54831c039 100644 --- a/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_and_milk_carton.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_tissue_and_milk_carton +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_tissue_and_milk_carton -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9751 -dataset_size: 338.3MB -statistics: - total_episodes: 47 - total_frames: 9751 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Grasp the tissue with the left gripper @@ -60,7 +67,30 @@ sub_tasks: - Grasp the milk with the right gripper - Place the milk on the white basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 9751 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9751 +dataset_size: 338.3MB +data_structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_tissue_and_milk_carton + dataset_name: storage_tissue_and_milk_carton + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9751 + dataset_size: 338.3MB + statistics: *id002 + dataset_uuid: 65bf2295-305d-4c59-aac7-0ce3349acaf9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Grasp the tissue with the left gripper + - Static + - End + - Place the tissue on the white basket with the left gripper + - Grasp the milk with the right gripper + - Place the milk on the white basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml index 73f81e6a1c769f867c0cb380293be0204b70d87e..6f5b52fd230d8e23eec14efc8e8d32aebe791625 100644 --- a/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_tissue_paper.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_tissue_paper +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_tissue_paper -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Static -objects: +dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6980 -dataset_size: 211.2MB -statistics: - total_episodes: 50 - total_frames: 6980 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Place the tissue into the brown basin with the left gripper @@ -54,7 +61,30 @@ sub_tasks: - Grasp the tissue with the right gripper - Grasp the tissue with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 6980 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6980 +dataset_size: 211.2MB +data_structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,46 +166,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_tissue_paper + dataset_name: storage_tissue_paper + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6980 + dataset_size: 211.2MB + statistics: *id002 + dataset_uuid: 22dc3be9-588c-4288-b3a3-5176c69a5f71 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Place the tissue into the brown basin with the left gripper + - End + - Abnormal + - Place the tissue into the brown basin with the right gripper + - Grasp the tissue with the right gripper + - Grasp the tissue with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml index dc8f3f1528fc9e7d333deff54d1bc3bea83ddeb1..d010b7cdb8e55c9c62a75733400a4a6b52893a60 100644 --- a/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_toy_cars_and_cookies.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_toy_cars_and_cookies +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_toy_cars_and_cookies -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8388 -dataset_size: 277.6MB -statistics: - total_episodes: 50 - total_frames: 8388 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Place the cookies on the pink plate with the right gripper @@ -60,7 +67,30 @@ sub_tasks: - End - Lift the toy car with left gripper and lift the cookies with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 8388 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8388 +dataset_size: 277.6MB +data_structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_toy_cars_and_cookies + dataset_name: storage_toy_cars_and_cookies + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8388 + dataset_size: 277.6MB + statistics: *id002 + dataset_uuid: 47323a9b-f930-4dcb-b755-7483052a8032 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Place the cookies on the pink plate with the right gripper + - Place the toy car on the pink plate with the left gripper + - Static + - Grasp the toy car with left gripper and grasp the cookies with the right gripper + - End + - Lift the toy car with left gripper and lift the cookies with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_toy_cars_and_cookies_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml index 0f151183c7513225417461ccb8f9d99af755a48f..43ebdedb89936d17fc40c8dbb29b92bb1743e9c1 100644 --- a/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml +++ b/dataset_info/AIRBOT_MMK2_storage_wet_tissue_and_building_block.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_storage_wet_tissue_and_building_block +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_wet_tissue_and_building_block -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the arch-shaped block on the white board with the right gripper -objects: +dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11526 -dataset_size: 335.2MB -statistics: - total_episodes: 47 - total_frames: 11526 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the arch-shaped block on the white board with the right gripper sub_tasks: - Place the arch-shaped block on the white board with the right gripper - Grasp the wet wipe with the left gripper @@ -59,7 +66,30 @@ sub_tasks: - Grasp the arch-shaped block with the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 11526 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11526 +dataset_size: 335.2MB +data_structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_storage_wet_tissue_and_building_block + dataset_name: storage_wet_tissue_and_building_block + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the arch-shaped block on the white board with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11526 + dataset_size: 335.2MB + statistics: *id002 + dataset_uuid: 1479380b-b15a-4f01-b1f7-6c3842a45d84 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the arch-shaped block on the white board with the right gripper + - Grasp the wet wipe with the left gripper + - Place the wet wipe on the white board with the left gripper + - End + - Grasp the arch-shaped block with the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml index 8e99731673257a13d1e6b0bdfcd254cfbf1fd21c..7d87a3f421a30b8f33a2e3c8e241820413caa38c 100644 --- a/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml +++ b/dataset_info/AIRBOT_MMK2_store_beauty_blender_and_building_blocks.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_store_beauty_blender_and_building_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: store_beauty_blender_and_building_blocks -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the green cuboid block with the right gripper -objects: +dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9178 -dataset_size: 300.5MB -statistics: - total_episodes: 50 - total_frames: 9178 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the green cuboid block with the right gripper sub_tasks: - Grasp the green cuboid block with the right gripper - Place the bullet into the bowl with the left gripper @@ -59,7 +66,30 @@ sub_tasks: - Abnormal - Place the green cuboid block into the bowl with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9178 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9178 +dataset_size: 300.5MB +data_structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_store_beauty_blender_and_building_blocks + dataset_name: store_beauty_blender_and_building_blocks + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the green cuboid block with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9178 + dataset_size: 300.5MB + statistics: *id002 + dataset_uuid: fee911a7-d998-45da-b549-b1621ca063be + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the green cuboid block with the right gripper + - Place the bullet into the bowl with the left gripper + - End + - Grasp the bullet with the left gripper + - Abnormal + - Place the green cuboid block into the bowl with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml index bc9437f3cdac0f9dde85d1c639965bfd8ff756e0..551f4751d5420847b946d7ff0bcf6b6db4648c57 100644 --- a/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml +++ b/dataset_info/AIRBOT_MMK2_store_coffee_cups.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_store_coffee_cups +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: store_coffee_cups -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the cup the right gripper -objects: +dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11166 -dataset_size: 444.8MB -statistics: - total_episodes: 50 - total_frames: 11166 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the cup the right gripper sub_tasks: - Grasp the cup the right gripper - place the cup in the basin use the left gripper @@ -52,7 +59,30 @@ sub_tasks: - Grasp the cup the left gripper - place the cup in the basin use the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 11166 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11166 +dataset_size: 444.8MB +data_structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,46 +164,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_store_coffee_cups + dataset_name: store_coffee_cups + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the cup the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11166 + dataset_size: 444.8MB + statistics: *id002 + dataset_uuid: 38759f00-3a88-419c-b74b-d8a66882a254 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the cup the right gripper + - place the cup in the basin use the left gripper + - End + - Grasp the cup the left gripper + - place the cup in the basin use the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml index 9f8bbaa478717885e454f2234846687931d68191..3a5c1d8bb23eb3912ebf36194bb94e70dee133da 100644 --- a/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml +++ b/dataset_info/AIRBOT_MMK2_store_peaches_and_pears.yaml @@ -1,16 +1,35 @@ -path: AIRBOT_MMK2_store_peaches_and_pears +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: store_peaches_and_pears -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the pear into the right compartment of the storage box with the right - gripper -objects: +dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11276 -dataset_size: 343.0MB -statistics: - total_episodes: 48 - total_frames: 11276 - total_tasks: 1 - total_videos: 192 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pear into the right compartment of the storage box with + the right gripper sub_tasks: - Place the pear into the right compartment of the storage box with the right gripper - Place the peach into the left compartment of the storage box with the left gripper @@ -60,7 +67,30 @@ sub_tasks: - End - Grasp a pear with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 48 + total_frames: 11276 + total_tasks: 1 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11276 +dataset_size: 343.0MB +data_structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_store_peaches_and_pears + dataset_name: store_peaches_and_pears + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the pear into the right compartment of the storage box with the right + gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11276 + dataset_size: 343.0MB + statistics: *id002 + dataset_uuid: c95d9ed0-71ed-4c90-94ec-30af0eb88215 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pear into the right compartment of the storage box with the right gripper + - Place the peach into the left compartment of the storage box with the left gripper + - Abnormal + - Grasp a peach with the left gripper + - End + - Grasp a pear with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml index cc827376536085c4643c2f8835cefc5408cfcdc5..09be600c0343a5deee3ec9be68a979a98e5eedf3 100644 --- a/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml +++ b/dataset_info/AIRBOT_MMK2_store_pomegranates_and_mangoes.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_store_pomegranates_and_mangoes +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: store_pomegranates_and_mangoes -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp a mango with the right gripper -objects: +dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-13755 -dataset_size: 495.0MB -statistics: - total_episodes: 44 - total_frames: 13755 - total_tasks: 1 - total_videos: 176 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp a mango with the right gripper sub_tasks: - Grasp a mango with the right gripper - Place the pomegranate into the left compartment of the storage box with the left @@ -60,7 +67,30 @@ sub_tasks: - End - Grasp a pomegranate with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 44 + total_frames: 13755 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 13755 +dataset_size: 495.0MB +data_structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,46 +172,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_store_pomegranates_and_mangoes + dataset_name: store_pomegranates_and_mangoes + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp a mango with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-13755 + dataset_size: 495.0MB + statistics: *id002 + dataset_uuid: 40eeb436-8f0b-4ef8-b835-9a9c4e510448 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp a mango with the right gripper + - Place the pomegranate into the left compartment of the storage box with the left + gripper + - Place the mango into the right compartment of the storage box with the right gripper + - Static + - End + - Grasp a pomegranate with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_store_pomegranates_and_mangoes_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml index 45a35d2415077ec8d0c0986e5945d8c0e1ad637c..fc53f4b8893a669ebd6a4e18358382b2903d170b 100644 --- a/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml +++ b/dataset_info/AIRBOT_MMK2_store_wet_wipes_and_bowls.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_store_wet_wipes_and_bowls +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: store_wet_wipes_and_bowls -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- open -- hold -tasks: Place the bowl on the plate with the right gripper -objects: +dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-13058 -dataset_size: 425.0MB -statistics: - total_episodes: 50 - total_frames: 13058 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the bowl on the plate with the right gripper sub_tasks: - Place the bowl on the plate with the right gripper - Static @@ -59,7 +66,30 @@ sub_tasks: - End - Place the wet wipes into the bowl with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- open +- hold +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 13058 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 13058 +dataset_size: 425.0MB +data_structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,46 +171,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_store_wet_wipes_and_bowls + dataset_name: store_wet_wipes_and_bowls + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - open + - hold + tasks: Place the bowl on the plate with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-13058 + dataset_size: 425.0MB + statistics: *id002 + dataset_uuid: de8bf908-6d6b-42fb-9298-29fa21a3fc8d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the bowl on the plate with the right gripper + - Static + - Grasp the wet wipes with the left gripper + - Grasp the bowl with the right gripper + - End + - Place the wet wipes into the bowl with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml index 78b833063ecbb9fa04e9b8a47627f133d8e352a5..8d13916bdb244d927e0f41856f2a3ec773377dc1 100644 --- a/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml +++ b/dataset_info/AIRBOT_MMK2_take_down_paper_cup.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_take_down_paper_cup +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_down_paper_cup -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-7169 -dataset_size: 224.6MB -statistics: - total_episodes: 46 - total_frames: 7169 - total_tasks: 1 - total_videos: 184 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - place the cup in the table use the right gripper @@ -53,7 +60,30 @@ sub_tasks: - Grasp the cup the right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 46 + total_frames: 7169 + total_tasks: 1 + total_videos: 184 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 7169 +dataset_size: 224.6MB +data_structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,46 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_take_down_paper_cup + dataset_name: take_down_paper_cup + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-7169 + dataset_size: 224.6MB + statistics: *id002 + dataset_uuid: 0c37ceb8-ce17-4a73-a167-316d17712390 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - place the cup in the table use the right gripper + - Grasp the cup the left gripper + - place the cup in the table use the left gripper + - Grasp the cup the right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_take_down_paper_cup_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml index bb7493ad44cd2fc8d99f0517a749faef7436d09c..b678846b907223ba530c5db05f28a599ee6b93ee 100644 --- a/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml +++ b/dataset_info/AIRBOT_MMK2_take_down_umbrella_and_mineral_water.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_take_down_umbrella_and_mineral_water +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_down_umbrella_and_mineral_water -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the cake on the table with the left gripper -objects: +dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -64,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-31517 -dataset_size: 1.2GB -statistics: - total_episodes: 212 - total_frames: 31517 - total_tasks: 5 - total_videos: 848 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the cake on the table with the left gripper sub_tasks: - Place the cake on the table with the left gripper - Place the mineral water on the table with the left gripper @@ -104,7 +111,30 @@ sub_tasks: - Grasp the vitamin B water on the white lid with the right gripper - Grasp the green cube block on the paper box with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -112,7 +142,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 212 + total_frames: 31517 + total_tasks: 5 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 31517 +dataset_size: 1.2GB +data_structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -121,13 +189,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -145,46 +216,137 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_take_down_umbrella_and_mineral_water + dataset_name: take_down_umbrella_and_mineral_water + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the cake on the table with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-31517 + dataset_size: 1.2GB + statistics: *id002 + dataset_uuid: f02d7798-2ef4-4eb5-9f41-d9d908b80510 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the cake on the table with the left gripper + - Place the mineral water on the table with the left gripper + - Grasp the umbrella on the white lid with the right gripper + - Grasp the cake from the white basket with the right gripper + - Grasp the vitamin B water on the white lid with the left gripper + - Place the umbrella on the table with the right gripper + - Grasp the blue cube block on the paper box with the left gripper + - Place the green cube block on the table with the right gripper + - End + - Grasp the cake from the white basket with the left gripper + - Place the blue cube block on the table with the left gripper + - Grasp the mineral water on the white lid with the left gripper + - Place the vitamin B water on the table with the right gripper + - Place the vitamin B water on the table with the left gripper + - Static + - Place the cake on the table with the right gripper + - Abnormal + - Grasp the egg from the egg storage box with the right gripper + - Place the egg on the table with the right gripper + - Grasp the vitamin B water on the white lid with the right gripper + - Grasp the green cube block on the paper box with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AIRBOT_MMK2_take_the_book.yaml b/dataset_info/AIRBOT_MMK2_take_the_book.yaml index 3ac72ab0d68d6852baeb1a85edfef1282d7018a4..51ebc580003cec9fffa90cdb968aacdbe78d4a22 100644 --- a/dataset_info/AIRBOT_MMK2_take_the_book.yaml +++ b/dataset_info/AIRBOT_MMK2_take_the_book.yaml @@ -1,13 +1,35 @@ -path: AIRBOT_MMK2_take_the_book +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_the_book -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- pick -tasks: Lay the book down with the right gripper -objects: +dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -26,30 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9314 -dataset_size: 352.3MB -statistics: - total_episodes: 79 - total_frames: 9314 - total_tasks: 2 - total_videos: 316 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Lay the book down with the right gripper sub_tasks: - Lay the book down with the right gripper - Hold the book with the right gripper - Abnormal - End - 'null' -annotations: +atomic_actions: +- pick +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 79 + total_frames: 9314 + total_tasks: 2 + total_videos: 316 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9314 +dataset_size: 352.3MB +data_structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,45 +161,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_take_the_book + dataset_name: take_the_book + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - pick + tasks: Lay the book down with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9314 + dataset_size: 352.3MB + statistics: *id002 + dataset_uuid: a04264d7-7e81-40cc-af53-0ec87db1f556 + language: *id003 + task_categories: *id004 + sub_tasks: + - Lay the book down with the right gripper + - Hold the book with the right gripper + - Abnormal + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml index d9ea9b04b14d4d7aaf62120f0fc0477a6902323a..f911fe6af9faf156fc0054a059af63f132779fb2 100644 --- a/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml +++ b/dataset_info/AIRBOT_MMK2_the_cup_is_put_into_the_bucket.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_the_cup_is_put_into_the_bucket +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: the_cup_is_put_into_the_bucket -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- open -- hold -tasks: Lift the cup the right gripper -objects: +dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9335 -dataset_size: 369.4MB -statistics: - total_episodes: 50 - total_frames: 9335 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Lift the cup the right gripper sub_tasks: - Lift the cup the right gripper - Static @@ -55,7 +62,30 @@ sub_tasks: - place the cup in the yellow basket use the right gripper - place the cup in the yellow basket use the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- open +- hold +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 50 + total_frames: 9335 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9335 +dataset_size: 369.4MB +data_structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,46 +167,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_the_cup_is_put_into_the_bucket + dataset_name: the_cup_is_put_into_the_bucket + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - open + - hold + tasks: Lift the cup the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9335 + dataset_size: 369.4MB + statistics: *id002 + dataset_uuid: 3d103654-86bc-4dae-b569-be335fe5d8df + language: *id003 + task_categories: *id004 + sub_tasks: + - Lift the cup the right gripper + - Static + - End + - Grasp the cup the right gripper + - Lift the cup the left gripper + - Grasp the cup the left gripper + - place the cup in the yellow basket use the right gripper + - place the cup in the yellow basket use the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/AIRBOT_MMK2_toy_storage.yaml b/dataset_info/AIRBOT_MMK2_toy_storage.yaml index d19e656d5402eb2d2c26f9628a0611d5d3cf6511..08688035a6f9252d39036b739bcccf09022a1825 100644 --- a/dataset_info/AIRBOT_MMK2_toy_storage.yaml +++ b/dataset_info/AIRBOT_MMK2_toy_storage.yaml @@ -1,15 +1,35 @@ -path: AIRBOT_MMK2_toy_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: toy_storage -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the whale with the left gripper -objects: +dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-28709 -dataset_size: 1.1GB -statistics: - total_episodes: 199 - total_frames: 28709 - total_tasks: 4 - total_videos: 796 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the whale with the left gripper sub_tasks: - Grasp the whale with the left gripper - End @@ -76,7 +83,30 @@ sub_tasks: - Place the large red cube block on the white lid with the right gripper - Deliver the whale from left gripper to right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -84,7 +114,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 199 + total_frames: 28709 + total_tasks: 4 + total_videos: 796 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 28709 +dataset_size: 1.1GB +data_structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -93,13 +161,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -117,44 +188,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AIRBOT_MMK2_toy_storage + dataset_name: toy_storage + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the whale with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-28709 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: 38eb75f9-27a2-42df-817f-90d75b91a582 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the whale with the left gripper + - End + - Place the puppy on the table with the left and right grippers + - Grasp the puppy with the left and right grippers + - Static + - Grasp the large green cube block with the left gripper + - Place the whale on the white lid with the right gripper + - Grasp the large red cube block with the right gripper + - Place the large green cube block on the pink plate with the left gripper + - Place the large red cube block on the white lid with the right gripper + - Deliver the whale from left gripper to right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_battery_storage_b.yaml b/dataset_info/AgiBot-g1_battery_storage_b.yaml index 515c229dc6b30f785057e6e6ad9b0980ffd63b49..951dcc9a9232caed353e54aaf656475f599695a6 100644 --- a/dataset_info/AgiBot-g1_battery_storage_b.yaml +++ b/dataset_info/AgiBot-g1_battery_storage_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_battery_storage_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: battery_storage_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the power supply on the operating table. -objects: +dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-57968 -dataset_size: 29.6GB -statistics: - total_episodes: 115 - total_frames: 57968 - total_tasks: 1 - total_videos: 920 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the power supply on the operating table. sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,77 +87,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 115 + total_frames: 57968 + total_tasks: 1 + total_videos: 920 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 57968 +dataset_size: 29.6GB +data_structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_battery_storage_b + dataset_name: battery_storage_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the power supply on the operating table. + objects: *id001 + operation_platform_height: null + frame_range: 0-57968 + dataset_size: 29.6GB + statistics: *id002 + dataset_uuid: 632c0e2b-a8bb-4e12-9635-82df87be2096 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the power supply on the operating table. + - Grab and lift the power supply from the large box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_battery_storage_c.yaml b/dataset_info/AgiBot-g1_battery_storage_c.yaml index f35483f0638d02b64607b20e7029daf09dc805a0..a5402adb161e3bbae23885a2f16a36a46d67fd38 100644 --- a/dataset_info/AgiBot-g1_battery_storage_c.yaml +++ b/dataset_info/AgiBot-g1_battery_storage_c.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_battery_storage_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: battery_storage_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-34166 -dataset_size: 18.3GB -statistics: - total_episodes: 57 - total_frames: 34166 - total_tasks: 1 - total_videos: 456 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grab and lift the power supply from the large box. @@ -52,7 +59,30 @@ sub_tasks: - Grasp the battery - Place the power supply on the operating table. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,77 +90,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 57 + total_frames: 34166 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 34166 +dataset_size: 18.3GB +data_structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -160,3 +134,187 @@ structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_battery_storage_c + dataset_name: battery_storage_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-34166 + dataset_size: 18.3GB + statistics: *id002 + dataset_uuid: b2a4e622-affe-407e-9e15-b94e3a5cf225 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grab and lift the power supply from the large box. + - Place the battery on the shelf + - Grasp the battery + - Place the power supply on the operating table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_box_storage_a.yaml b/dataset_info/AgiBot-g1_box_storage_a.yaml index a2ead48aeeea2ab9cd4cb8c921dd9d527ec6d61a..d6a89df7a856fedcd68881a7b14d08e19623580a 100644 --- a/dataset_info/AgiBot-g1_box_storage_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-11770 -dataset_size: 4.8GB -statistics: - total_episodes: 21 - total_frames: 11770 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 21 + total_frames: 11770 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11770 +dataset_size: 4.8GB +data_structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,68 +167,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_a + dataset_name: box_storage_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-11770 + dataset_size: 4.8GB + statistics: *id002 + dataset_uuid: a1e4a24d-cfb7-4719-a86c-d455555bc395 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_box_storage_b.yaml b/dataset_info/AgiBot-g1_box_storage_b.yaml index 59cd03741af0991f95f1683c1a0f86c3d241f7b9..2a4d0f00fcf4ccbb544b7f0bb34f9fd011e52c5a 100644 --- a/dataset_info/AgiBot-g1_box_storage_b.yaml +++ b/dataset_info/AgiBot-g1_box_storage_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-49301 -dataset_size: 19.7GB -statistics: - total_episodes: 96 - total_frames: 49301 - total_tasks: 1 - total_videos: 768 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 96 + total_frames: 49301 + total_tasks: 1 + total_videos: 768 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 49301 +dataset_size: 19.7GB +data_structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,68 +167,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_b + dataset_name: box_storage_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-49301 + dataset_size: 19.7GB + statistics: *id002 + dataset_uuid: acb66e80-45d3-413b-829d-ca92e763d418 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_box_storage_c.yaml b/dataset_info/AgiBot-g1_box_storage_c.yaml index 080b59c11a4421558d904a4adf671576e10dc489..524305687ec8c457dde422cb873d656acf42f521 100644 --- a/dataset_info/AgiBot-g1_box_storage_c.yaml +++ b/dataset_info/AgiBot-g1_box_storage_c.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Pick up the mouse and power cord box. -objects: +dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-23361 -dataset_size: 10.2GB -statistics: - total_episodes: 39 - total_frames: 23361 - total_tasks: 1 - total_videos: 312 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the mouse and power cord box. sub_tasks: - Pick up the mouse and power cord box. - Place the mouse and power cord box into the container. @@ -47,7 +54,30 @@ sub_tasks: - Abnormal - Grasp the paper box - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 39 + total_frames: 23361 + total_tasks: 1 + total_videos: 312 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 23361 +dataset_size: 10.2GB +data_structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,68 +171,146 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_c + dataset_name: box_storage_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Pick up the mouse and power cord box. + objects: *id001 + operation_platform_height: null + frame_range: 0-23361 + dataset_size: 10.2GB + statistics: *id002 + dataset_uuid: a55ac5d2-061f-4ff3-9670-41aef4e03037 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the mouse and power cord box. + - Place the mouse and power cord box into the container. + - End + - Place the paper box in the another big box + - Abnormal + - Grasp the paper box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml index 9a134e24115d12ae14e5c4c70907edc721038a90..ee327c45379a7567f436a48e801c5fed65dfc1a3 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_cardboard_box_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_cardboard_box_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-188369 -dataset_size: 87.9GB -statistics: - total_episodes: 402 - total_frames: 188369 - total_tasks: 1 - total_videos: 3216 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 402 + total_frames: 188369 + total_tasks: 1 + total_videos: 3216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 188369 +dataset_size: 87.9GB +data_structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_cardboard_box_a + dataset_name: box_storage_cardboard_box_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-188369 + dataset_size: 87.9GB + statistics: *id002 + dataset_uuid: 15be5a22-893f-4c6d-8562-afa106f6846f + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml index 94b715028386ebf007a00c83256ddaa27d5e2a34..46b597249bdcbae1397712e252e436404f7ba42c 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_cardboard_box_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_cardboard_box_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-115855 -dataset_size: 56.9GB -statistics: - total_episodes: 247 - total_frames: 115855 - total_tasks: 1 - total_videos: 1976 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 247 + total_frames: 115855 + total_tasks: 1 + total_videos: 1976 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 115855 +dataset_size: 56.9GB +data_structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_cardboard_box_b + dataset_name: box_storage_cardboard_box_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-115855 + dataset_size: 56.9GB + statistics: *id002 + dataset_uuid: 7e28f5b3-7a48-4d52-b01e-390390932ffd + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml index ddf5b5f8c846b98b4e36402610f044d441aa7998..678cb352fec008d42258c8d9c1f119e4b3f5354f 100644 --- a/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml +++ b/dataset_info/AgiBot-g1_box_storage_cardboard_box_c.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_cardboard_box_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_cardboard_box_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-230771 -dataset_size: 109.0GB -statistics: - total_episodes: 476 - total_frames: 230771 - total_tasks: 1 - total_videos: 3808 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,74 +81,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 476 + total_frames: 230771 + total_tasks: 1 + total_videos: 3808 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 230771 +dataset_size: 109.0GB +data_structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -151,3 +125,184 @@ structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── anno \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_cardboard_box_c + dataset_name: box_storage_cardboard_box_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-230771 + dataset_size: 109.0GB + statistics: *id002 + dataset_uuid: f5991bf3-3900-460c-adbd-56e87ac4bbc1 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_box_storage_e.yaml b/dataset_info/AgiBot-g1_box_storage_e.yaml index cc2fe6544a1ea199b1a6184238f6098d6152b11d..f9dd2027c46b59a0e737523c3f61a5a66eb8d6b5 100644 --- a/dataset_info/AgiBot-g1_box_storage_e.yaml +++ b/dataset_info/AgiBot-g1_box_storage_e.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_e -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and the power cord paper box into the container. -objects: +dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-33264 -dataset_size: 13.0GB -statistics: - total_episodes: 58 - total_frames: 33264 - total_tasks: 1 - total_videos: 464 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and the power cord paper box into the container. sub_tasks: - Place the mouse and the power cord paper box into the container. - Pick up the mouse and the power cord paper box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 58 + total_frames: 33264 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 33264 +dataset_size: 13.0GB +data_structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,68 +173,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_e + dataset_name: box_storage_e + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and the power cord paper box into the container. + objects: *id001 + operation_platform_height: null + frame_range: 0-33264 + dataset_size: 13.0GB + statistics: *id002 + dataset_uuid: 6fc368f2-1d50-44e7-ab39-3a3405e14efc + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and the power cord paper box into the container. + - Pick up the mouse and the power cord paper box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_box_storage_part_a.yaml b/dataset_info/AgiBot-g1_box_storage_part_a.yaml index f0e5fbfb1405593f359fb9853af778ae792ad1d5..d70d366a580c2fb79736801e8dc36253e5eaac8f 100644 --- a/dataset_info/AgiBot-g1_box_storage_part_a.yaml +++ b/dataset_info/AgiBot-g1_box_storage_part_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_part_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_part_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Pick up the IO bracket from the container box. -objects: +dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-205995 -dataset_size: 105.7GB -statistics: - total_episodes: 335 - total_frames: 205995 - total_tasks: 1 - total_videos: 2680 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the IO bracket from the container box. sub_tasks: - Pick up the IO bracket from the container box. - Place the IO bracket into the ingredient slot. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,77 +93,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 335 + total_frames: 205995 + total_tasks: 1 + total_videos: 2680 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 205995 +dataset_size: 105.7GB +data_structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -163,3 +137,184 @@ structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_part_a + dataset_name: box_storage_part_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Pick up the IO bracket from the container box. + objects: *id001 + operation_platform_height: null + frame_range: 0-205995 + dataset_size: 105.7GB + statistics: *id002 + dataset_uuid: 24378624-9647-4aad-82ac-d822bb7bc50d + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the IO bracket from the container box. + - Place the IO bracket into the ingredient slot. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_box_storage_tool.yaml b/dataset_info/AgiBot-g1_box_storage_tool.yaml index 25193958f11f1a656a6ba93cde174898a1b43075..8fda6d44efd9c1ac1fd8ccf7f6482111bc587422 100644 --- a/dataset_info/AgiBot-g1_box_storage_tool.yaml +++ b/dataset_info/AgiBot-g1_box_storage_tool.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_box_storage_tool +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_tool -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-32860 -dataset_size: 1.2GB -statistics: - total_episodes: 99 - total_frames: 32860 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Abnormal - Grasp the data cable - Place the data cable in the another box - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 99 + total_frames: 32860 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 32860 +dataset_size: 1.2GB +data_structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,39 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_box_storage_tool + dataset_name: box_storage_tool + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-32860 + dataset_size: 1.2GB + statistics: *id002 + dataset_uuid: 4ed6d684-19e6-4881-9b9f-eabbb1a6789d + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Abnormal + - Grasp the data cable + - Place the data cable in the another box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_left_capture_part.yaml b/dataset_info/AgiBot-g1_left_capture_part.yaml index c3d1b75ec11b4997a069a4fa232fa127fa45b14a..82d4956147950316a01face3c7fdace2b460d918 100644 --- a/dataset_info/AgiBot-g1_left_capture_part.yaml +++ b/dataset_info/AgiBot-g1_left_capture_part.yaml @@ -1,13 +1,35 @@ -path: AgiBot-g1_left_capture_part +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: left_capture_part -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -tasks: Pick up the front USB bracket from the feeding area. -objects: +dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -32,28 +54,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-174563 -dataset_size: 97.3GB -statistics: - total_episodes: 464 - total_frames: 174563 - total_tasks: 1 - total_videos: 3712 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the front USB bracket from the feeding area. sub_tasks: - Pick up the front USB bracket from the feeding area. - Place the front USB bracket into the box. - 'null' -annotations: +atomic_actions: +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,77 +91,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 464 + total_frames: 174563 + total_tasks: 1 + total_videos: 3712 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 174563 +dataset_size: 97.3GB +data_structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -161,3 +135,182 @@ structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_left_capture_part + dataset_name: left_capture_part + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + tasks: Pick up the front USB bracket from the feeding area. + objects: *id001 + operation_platform_height: null + frame_range: 0-174563 + dataset_size: 97.3GB + statistics: *id002 + dataset_uuid: 66d07878-2211-48d2-8cd0-1df8f2cd83a3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the front USB bracket from the feeding area. + - Place the front USB bracket into the box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml index e2dd1fea6634926a1d5cfc3db3b84ce503c279d9..7ff0b985f1bcf723e14c0a28870f475bf71c521d 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_mobile_accessory_storage_box_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_accessory_storage_box_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the open mouse box onto the operation table. -objects: +dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-40631 -dataset_size: 16.7GB -statistics: - total_episodes: 81 - total_frames: 40631 - total_tasks: 1 - total_videos: 648 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the open mouse box onto the operation table. sub_tasks: - Place the open mouse box onto the operation table. - Grab and pick up the open mouse box from the accessory packaging area. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 81 + total_frames: 40631 + total_tasks: 1 + total_videos: 648 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 40631 +dataset_size: 16.7GB +data_structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_mobile_accessory_storage_box_a + dataset_name: mobile_accessory_storage_box_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the open mouse box onto the operation table. + objects: *id001 + operation_platform_height: null + frame_range: 0-40631 + dataset_size: 16.7GB + statistics: *id002 + dataset_uuid: 811a660c-6371-490a-9141-3019afa0cac2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the open mouse box onto the operation table. + - Grab and pick up the open mouse box from the accessory packaging area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml index 0afea0894ea8784a2b72a9e26707de156ceaff4a..c32c8135cb146c573460843406014400d691a174 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_c.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_mobile_accessory_storage_box_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_accessory_storage_box_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the mouse and data cable -objects: +dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-28207 -dataset_size: 13.9GB -statistics: - total_episodes: 40 - total_frames: 28207 - total_tasks: 1 - total_videos: 320 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the mouse and data cable sub_tasks: - Grasp the mouse and data cable - Place the mouse and data cable in the paper box @@ -54,7 +61,30 @@ sub_tasks: - Abnormal - Place the mouse and power cord into the box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,74 +92,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 40 + total_frames: 28207 + total_tasks: 1 + total_videos: 320 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 28207 +dataset_size: 13.9GB +data_structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -162,3 +136,189 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_mobile_accessory_storage_box_c + dataset_name: mobile_accessory_storage_box_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the mouse and data cable + objects: *id001 + operation_platform_height: null + frame_range: 0-28207 + dataset_size: 13.9GB + statistics: *id002 + dataset_uuid: be27952f-4bad-4014-aaf8-ce6946a852d5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the mouse and data cable + - Place the mouse and data cable in the paper box + - Place the data cable in the paper box + - End + - Grab and pick up the mouse and power cord from the accessory packaging area. + - Abnormal + - Place the mouse and power cord into the box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_mobile_accessory_storage_box_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml index c2c32fd80c53500f02abe994f6962887e0985493..4f7d71ae761d887077289cc57451baefe6889963 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_d.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_mobile_accessory_storage_box_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_accessory_storage_box_d -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the mouse and data cable -objects: +dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-17860 -dataset_size: 7.6GB -statistics: - total_episodes: 30 - total_frames: 17860 - total_tasks: 1 - total_videos: 240 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the mouse and data cable sub_tasks: - Grasp the mouse and data cable - Place the mouse and data cable in the paper box @@ -54,7 +61,30 @@ sub_tasks: - Abnormal - Place the mouse and power cord into the box. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,74 +92,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 30 + total_frames: 17860 + total_tasks: 1 + total_videos: 240 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 17860 +dataset_size: 7.6GB +data_structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -162,3 +136,189 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_mobile_accessory_storage_box_d + dataset_name: mobile_accessory_storage_box_d + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the mouse and data cable + objects: *id001 + operation_platform_height: null + frame_range: 0-17860 + dataset_size: 7.6GB + statistics: *id002 + dataset_uuid: add3803d-befc-4ae5-8bc7-b6d81060cdcf + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the mouse and data cable + - Place the mouse and data cable in the paper box + - End + - Place the mouse in the paper box + - Grab and pick up the mouse and power cord from the accessory packaging area. + - Abnormal + - Place the mouse and power cord into the box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml index 7b181ce5bc64ca273ea6c41e370fe9822ecee125..b6981fb634310cdf9829405492fde43359c69abb 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_e.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_mobile_accessory_storage_box_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_accessory_storage_box_e -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and power cord into the box. -objects: +dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-29872 -dataset_size: 14.5GB -statistics: - total_episodes: 61 - total_frames: 29872 - total_tasks: 1 - total_videos: 488 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and power cord into the box. sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 61 + total_frames: 29872 + total_tasks: 1 + total_videos: 488 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 29872 +dataset_size: 14.5GB +data_structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_mobile_accessory_storage_box_e + dataset_name: mobile_accessory_storage_box_e + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and power cord into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-29872 + dataset_size: 14.5GB + statistics: *id002 + dataset_uuid: 76ecd9c6-025c-4c06-abcc-de49bc084c86 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and power cord into the box. + - Simultaneously pick up the mouse and power cord from the accessory packaging area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml index ec01a7d0f87520e487d50951ca17fe7eb1e25250..a2d33755b58aa1e0dc6a0d1e1dc1a12583aac619 100644 --- a/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml +++ b/dataset_info/AgiBot-g1_mobile_accessory_storage_box_f.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_mobile_accessory_storage_box_f +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_accessory_storage_box_f -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and power cord into the box. -objects: +dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-31735 -dataset_size: 12.2GB -statistics: - total_episodes: 68 - total_frames: 31735 - total_tasks: 1 - total_videos: 544 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and power cord into the box. sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 68 + total_frames: 31735 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 31735 +dataset_size: 12.2GB +data_structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── a \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_mobile_accessory_storage_box_f + dataset_name: mobile_accessory_storage_box_f + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and power cord into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-31735 + dataset_size: 12.2GB + statistics: *id002 + dataset_uuid: 52a333b0-b320-467a-a555-12066d086c01 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and power cord into the box. + - Simultaneously pick up the mouse and power cord from the accessory packaging area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_pick_up_battery.yaml b/dataset_info/AgiBot-g1_pick_up_battery.yaml index 7ebfa3f07d17d00ec11179816ca4103590bd72f3..25d0f5f76bc040904db28f8c631bcc7ffeb2dcc5 100644 --- a/dataset_info/AgiBot-g1_pick_up_battery.yaml +++ b/dataset_info/AgiBot-g1_pick_up_battery.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_pick_up_battery +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_battery -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grab the main unit power supply from the containment box. -objects: +dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-185469 -dataset_size: 95.3GB -statistics: - total_episodes: 387 - total_frames: 185469 - total_tasks: 1 - total_videos: 3096 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab the main unit power supply from the containment box. sub_tasks: - Grab the main unit power supply from the containment box. - Place the main unit power supply in the designated area. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,41 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├──\ +operation_platform_height: null +statistics: &id002 + total_episodes: 387 + total_frames: 185469 + total_tasks: 1 + total_videos: 3096 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 185469 +dataset_size: 95.3GB +data_structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -124,35 +131,184 @@ data_schema: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_pick_up_battery + dataset_name: pick_up_battery + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grab the main unit power supply from the containment box. + objects: *id001 + operation_platform_height: null + frame_range: 0-185469 + dataset_size: 95.3GB + statistics: *id002 + dataset_uuid: 16b21b98-c079-4363-863b-54db1f5d5ebe + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab the main unit power supply from the containment box. + - Place the main unit power supply in the designated area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_picks_up_battery_a.yaml b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml index 8e2390c9161aeedbc6bae30b0f20cb4093605882..43484c5dfd284a5c0864e80af57a9d1624957fbc 100644 --- a/dataset_info/AgiBot-g1_picks_up_battery_a.yaml +++ b/dataset_info/AgiBot-g1_picks_up_battery_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_picks_up_battery_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: picks_up_battery_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the power supply on the operating table. -objects: +dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-214263 -dataset_size: 119.7GB -statistics: - total_episodes: 562 - total_frames: 214263 - total_tasks: 1 - total_videos: 4496 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the power supply on the operating table. sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,77 +87,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 562 + total_frames: 214263 + total_tasks: 1 + total_videos: 4496 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 214263 +dataset_size: 119.7GB +data_structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_picks_up_battery_a + dataset_name: picks_up_battery_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the power supply on the operating table. + objects: *id001 + operation_platform_height: null + frame_range: 0-214263 + dataset_size: 119.7GB + statistics: *id002 + dataset_uuid: 3385f559-eb6d-46ff-94d3-a6b48d250220 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the power supply on the operating table. + - Grab and lift the power supply from the large box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_picks_up_battery_b.yaml b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml index 13f89d002941087b2dee6209e018b7d373e0450d..c32453de049641732eb041350cf9a454216696fd 100644 --- a/dataset_info/AgiBot-g1_picks_up_battery_b.yaml +++ b/dataset_info/AgiBot-g1_picks_up_battery_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_picks_up_battery_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: picks_up_battery_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the power supply on the operating table. -objects: +dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-131840 -dataset_size: 71.4GB -statistics: - total_episodes: 329 - total_frames: 131840 - total_tasks: 1 - total_videos: 2632 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the power supply on the operating table. sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,77 +87,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 329 + total_frames: 131840 + total_tasks: 1 + total_videos: 2632 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 131840 +dataset_size: 71.4GB +data_structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_picks_up_battery_b + dataset_name: picks_up_battery_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the power supply on the operating table. + objects: *id001 + operation_platform_height: null + frame_range: 0-131840 + dataset_size: 71.4GB + statistics: *id002 + dataset_uuid: 69e28097-0f6e-4238-8562-b87280af0714 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the power supply on the operating table. + - Grab and lift the power supply from the large box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml index 2c4379a9d2e1afc77bb995b4c1724929aa841a75..6a7bbe69681a7be1091061e36e5f6779b5eabd1c 100644 --- a/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml +++ b/dataset_info/AgiBot-g1_picks_up_cardboard_box.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_picks_up_cardboard_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: picks_up_cardboard_box -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the mouse and power cord box. -objects: +dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-149409 -dataset_size: 59.5GB -statistics: - total_episodes: 277 - total_frames: 149409 - total_tasks: 1 - total_videos: 2216 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the mouse and power cord box. sub_tasks: - Pick up the mouse and power cord box. - End @@ -52,7 +59,30 @@ sub_tasks: - Grasp the paper box - Place the mouse and power cord box into the case. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,41 +90,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 277 + total_frames: 149409 + total_tasks: 1 + total_videos: 2216 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 149409 +dataset_size: 59.5GB +data_structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -127,36 +134,187 @@ data_schema: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotat \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_picks_up_cardboard_box + dataset_name: picks_up_cardboard_box + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the mouse and power cord box. + objects: *id001 + operation_platform_height: null + frame_range: 0-149409 + dataset_size: 59.5GB + statistics: *id002 + dataset_uuid: d4888396-b8d0-45fe-9fdc-8f4e9300b1fd + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the mouse and power cord box. + - End + - Place the paper box in the another big box + - Grasp the paper box + - Place the mouse and power cord box into the case. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_picks_up_parts_a.yaml b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml index 208af9066c06eef922201e41fdf8ffc8c823f2eb..46c2d68f10e7dd77e8ac9702812e6f055edfc11b 100644 --- a/dataset_info/AgiBot-g1_picks_up_parts_a.yaml +++ b/dataset_info/AgiBot-g1_picks_up_parts_a.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_picks_up_parts_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: picks_up_parts_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the hard drive bracket into the box. -objects: +dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-45417 -dataset_size: 22.3GB -statistics: - total_episodes: 126 - total_frames: 45417 - total_tasks: 1 - total_videos: 1008 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the hard drive bracket into the box. sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,44 +87,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 126 + total_frames: 45417 + total_tasks: 1 + total_videos: 1008 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 45417 +dataset_size: 22.3GB +data_structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -124,35 +131,184 @@ data_schema: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_picks_up_parts_a + dataset_name: picks_up_parts_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the hard drive bracket into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-45417 + dataset_size: 22.3GB + statistics: *id002 + dataset_uuid: ffa75a2d-6545-468f-86d7-86ae4766cc5a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the hard drive bracket into the box. + - Pick up the hard drive bracket from the feeding area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_picks_up_parts_b.yaml b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml index 9cef8c3166b0f54177a96891ea30a41eebf2d9d8..43aace510cb779909bb64996bc3176a2d4de8f34 100644 --- a/dataset_info/AgiBot-g1_picks_up_parts_b.yaml +++ b/dataset_info/AgiBot-g1_picks_up_parts_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_picks_up_parts_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: picks_up_parts_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the hard drive bracket into the box. -objects: +dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-274936 -dataset_size: 127.3GB -statistics: - total_episodes: 824 - total_frames: 274936 - total_tasks: 1 - total_videos: 6592 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the hard drive bracket into the box. sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,44 +87,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 824 + total_frames: 274936 + total_tasks: 1 + total_videos: 6592 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 274936 +dataset_size: 127.3GB +data_structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -124,35 +131,184 @@ data_schema: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_picks_up_parts_b + dataset_name: picks_up_parts_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the hard drive bracket into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-274936 + dataset_size: 127.3GB + statistics: *id002 + dataset_uuid: 3c0a2eba-4ba5-472f-8d66-81ef39df434e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the hard drive bracket into the box. + - Pick up the hard drive bracket from the feeding area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_picks_up_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_remove_the_accessory.yaml b/dataset_info/AgiBot-g1_remove_the_accessory.yaml index c224c85f852d375314509c2c4c19d42a46d38f1a..69069bb1fff432113474775eaf80780c2c4677f2 100644 --- a/dataset_info/AgiBot-g1_remove_the_accessory.yaml +++ b/dataset_info/AgiBot-g1_remove_the_accessory.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_remove_the_accessory +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: remove_the_accessory -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the hard drive bracket into the box. -objects: +dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-27353 -dataset_size: 14.8GB -statistics: - total_episodes: 68 - total_frames: 27353 - total_tasks: 1 - total_videos: 544 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the hard drive bracket into the box. sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,43 +87,20 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 68 + total_frames: 27353 + total_tasks: 1 + total_videos: 544 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 27353 +dataset_size: 14.8GB +data_structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ @@ -124,36 +131,184 @@ data_schema: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotatio \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_remove_the_accessory + dataset_name: remove_the_accessory + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the hard drive bracket into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-27353 + dataset_size: 14.8GB + statistics: *id002 + dataset_uuid: fcba76dc-2672-4dc1-9b8e-b375ede64077 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the hard drive bracket into the box. + - Pick up the hard drive bracket from the feeding area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_right_capture_part.yaml b/dataset_info/AgiBot-g1_right_capture_part.yaml index f152a14f6fb5cac4a2009f86fccf34ca109c20ed..737555bc011b6abe5094fffb17a3be36cccfb837 100644 --- a/dataset_info/AgiBot-g1_right_capture_part.yaml +++ b/dataset_info/AgiBot-g1_right_capture_part.yaml @@ -1,13 +1,35 @@ -path: AgiBot-g1_right_capture_part +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: right_capture_part -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -tasks: Place the front USB bracket into the box. -objects: +dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -32,28 +54,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-27866 -dataset_size: 13.1GB -statistics: - total_episodes: 57 - total_frames: 27866 - total_tasks: 1 - total_videos: 456 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the front USB bracket into the box. sub_tasks: - Place the front USB bracket into the box. - Pick up and lift the front USB bracket from the feeding area. - 'null' -annotations: +atomic_actions: +- grasp +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,77 +91,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 57 + total_frames: 27866 + total_tasks: 1 + total_videos: 456 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 27866 +dataset_size: 13.1GB +data_structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ @@ -161,3 +135,182 @@ structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\ \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_right_capture_part + dataset_name: right_capture_part + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + tasks: Place the front USB bracket into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-27866 + dataset_size: 13.1GB + statistics: *id002 + dataset_uuid: 3bab35b2-895e-4796-be8a-198ba6e5baa8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the front USB bracket into the box. + - Pick up and lift the front USB bracket from the feeding area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_right_capture_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml index 65fcfd3a434d5f47714ca28afd46eafb9e44ad41..dfbd7495021c1fae62006c0f07994f26cc6e868d 100644 --- a/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_battery.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_robotic_arm_picks_up_battery +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: robotic_arm_picks_up_battery -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the power supply on the operating table. -objects: +dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-30215 -dataset_size: 17.9GB -statistics: - total_episodes: 56 - total_frames: 30215 - total_tasks: 1 - total_videos: 448 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the power supply on the operating table. sub_tasks: - Place the power supply on the operating table. - Grab and lift the power supply from the large box. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 56 + total_frames: 30215 + total_tasks: 1 + total_videos: 448 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 30215 +dataset_size: 17.9GB +data_structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── ann \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_robotic_arm_picks_up_battery + dataset_name: robotic_arm_picks_up_battery + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the power supply on the operating table. + objects: *id001 + operation_platform_height: null + frame_range: 0-30215 + dataset_size: 17.9GB + statistics: *id002 + dataset_uuid: 14af3598-fff7-4c0b-bca2-16c57884c70e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the power supply on the operating table. + - Grab and lift the power supply from the large box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml index 22155d7db7877ff8d8563b0a43ccc45913f42be0..8e76896f439a45dd1bd4b580ab93c7b5b36954d5 100644 --- a/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml +++ b/dataset_info/AgiBot-g1_robotic_arm_picks_up_parts.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_robotic_arm_picks_up_parts +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: robotic_arm_picks_up_parts -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the hard drive bracket into the box. -objects: +dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-30190 -dataset_size: 15.0GB -statistics: - total_episodes: 53 - total_frames: 30190 - total_tasks: 1 - total_videos: 424 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the hard drive bracket into the box. sub_tasks: - Place the hard drive bracket into the box. - Pick up the hard drive bracket from the feeding area. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,74 +87,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ - \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: null +statistics: &id002 + total_episodes: 53 + total_frames: 30190 + total_tasks: 1 + total_videos: 424 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 30190 +dataset_size: 15.0GB +data_structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ @@ -157,3 +131,184 @@ structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annot \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_robotic_arm_picks_up_parts + dataset_name: robotic_arm_picks_up_parts + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the hard drive bracket into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-30190 + dataset_size: 15.0GB + statistics: *id002 + dataset_uuid: 9d81f45b-a37d-46ad-b5cd-899737518fb6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the hard drive bracket into the box. + - Pick up the hard drive bracket from the feeding area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_storage_item_b.yaml b/dataset_info/AgiBot-g1_storage_item_b.yaml index 3d09a407ce7d2559ab8f3735b86843b09201386f..ec6e2e6f34bc43a2d3053105b1f05c43e7d17d5a 100644 --- a/dataset_info/AgiBot-g1_storage_item_b.yaml +++ b/dataset_info/AgiBot-g1_storage_item_b.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_storage_item_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_item_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the mouse and power cord into the box. -objects: +dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-48184 -dataset_size: 21.3GB -statistics: - total_episodes: 106 - total_frames: 48184 - total_tasks: 1 - total_videos: 848 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and power cord into the box. sub_tasks: - Place the mouse and power cord into the box. - Simultaneously pick up the mouse and power cord from the accessory packaging area. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 106 + total_frames: 48184 + total_tasks: 1 + total_videos: 848 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 48184 +dataset_size: 21.3GB +data_structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +152,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,68 +179,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_storage_item_b + dataset_name: storage_item_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the mouse and power cord into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-48184 + dataset_size: 21.3GB + statistics: *id002 + dataset_uuid: 6dc0fd94-f3bf-4d74-8dca-8b8723050f7d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and power cord into the box. + - Simultaneously pick up the mouse and power cord from the accessory packaging area. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/AgiBot-g1_storage_item_d.yaml b/dataset_info/AgiBot-g1_storage_item_d.yaml index 45777eb9206233e239000240f205e7c93300e90f..3d8517cfdf84eab9ef6df82ebb72fd97dab7e93d 100644 --- a/dataset_info/AgiBot-g1_storage_item_d.yaml +++ b/dataset_info/AgiBot-g1_storage_item_d.yaml @@ -1,16 +1,35 @@ -path: AgiBot-g1_storage_item_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_item_d -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grab and pick up both the mouse and power cord from the accessory packaging - area at the same time -objects: +dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,29 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-180148 -dataset_size: 86.0GB -statistics: - total_episodes: 450 - total_frames: 180148 - total_tasks: 1 - total_videos: 3600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab and pick up both the mouse and power cord from the accessory + packaging area at the same time sub_tasks: - Grab and pick up both the mouse and power cord from the accessory packaging area at the same time - Place the mouse and power cord into the box - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 450 + total_frames: 180148 + total_tasks: 1 + total_videos: 3600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 180148 +dataset_size: 86.0GB +data_structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,68 +181,144 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_storage_item_d + dataset_name: storage_item_d + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grab and pick up both the mouse and power cord from the accessory packaging + area at the same time + objects: *id001 + operation_platform_height: null + frame_range: 0-180148 + dataset_size: 86.0GB + statistics: *id002 + dataset_uuid: 49f10ba2-bad7-46fc-ae4b-f6142efa81a2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab and pick up both the mouse and power cord from the accessory packaging area + at the same time + - Place the mouse and power cord into the box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_storage_item_e.yaml b/dataset_info/AgiBot-g1_storage_item_e.yaml index ad92e6aa778597a16defb4708eff18266f913654..df8b3bd94117ebabb5fd3a10430ac80fb5a6a8e8 100644 --- a/dataset_info/AgiBot-g1_storage_item_e.yaml +++ b/dataset_info/AgiBot-g1_storage_item_e.yaml @@ -1,16 +1,35 @@ -path: AgiBot-g1_storage_item_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_item_e -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grab and lift both the mouse and power cord from the accessory packaging area - at the same time -objects: +dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,29 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-212067 -dataset_size: 92.8GB -statistics: - total_episodes: 507 - total_frames: 212067 - total_tasks: 1 - total_videos: 4056 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab and lift both the mouse and power cord from the accessory packaging + area at the same time sub_tasks: - Grab and lift both the mouse and power cord from the accessory packaging area at the same time - Place the mouse and power cord into the box - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 507 + total_frames: 212067 + total_tasks: 1 + total_videos: 4056 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 212067 +dataset_size: 92.8GB +data_structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,68 +181,144 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_storage_item_e + dataset_name: storage_item_e + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grab and lift both the mouse and power cord from the accessory packaging + area at the same time + objects: *id001 + operation_platform_height: null + frame_range: 0-212067 + dataset_size: 92.8GB + statistics: *id002 + dataset_uuid: 6d8ca1f6-f9cf-4b0c-bef5-fca799793086 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab and lift both the mouse and power cord from the accessory packaging area + at the same time + - Place the mouse and power cord into the box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/AgiBot-g1_tool_storage.yaml b/dataset_info/AgiBot-g1_tool_storage.yaml index 8365a1571fbc00d537c26d5c7f6d4dc80889e81d..b86fc9c6ab4716b00374aacda0183d9bc7adb880 100644 --- a/dataset_info/AgiBot-g1_tool_storage.yaml +++ b/dataset_info/AgiBot-g1_tool_storage.yaml @@ -1,15 +1,35 @@ -path: AgiBot-g1_tool_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tool_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the mouse and power cord into the box. -objects: +dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,29 +48,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-30600 -dataset_size: 13.5GB -statistics: - total_episodes: 67 - total_frames: 30600 - total_tasks: 1 - total_videos: 536 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the mouse and power cord into the box. sub_tasks: - Place the mouse and power cord into the box. - Grab and lift both the mouse and power cord from the accessory packaging area at the same time. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AgiBot-g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +88,57 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 67 + total_frames: 30600 + total_tasks: 1 + total_videos: 536 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 30600 +dataset_size: 13.5GB +data_structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,68 +174,143 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: AgiBot-g1_tool_storage + dataset_name: tool_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the mouse and power cord into the box. + objects: *id001 + operation_platform_height: null + frame_range: 0-30600 + dataset_size: 13.5GB + statistics: *id002 + dataset_uuid: 4681c572-c9b2-475c-b9c1-66ed9f3d533d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the mouse and power cord into the box. + - Grab and lift both the mouse and power cord from the accessory packaging area + at the same time. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail.yaml b/dataset_info/Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail.yaml index cd2007a6d0c5c3e84580da269c12e813e563c840..63e87a48e55d650f6d9e341831f3147dbaeb03ce 100644 --- a/dataset_info/Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail.yaml +++ b/dataset_info/Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -81,65 +81,44 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take out the empty pen holder by hand, and then put the milk and cola into the basket - on the left. place the pen holders in the middle one by one, and then put the papers - one by one into the box on the right. +task_result: 'null' +task_instruction: take out the empty pen holder by hand, and then put the milk and + cola into the basket on the left. place the pen holders in the middle one by one, + and then put the papers one by one into the box on the right. sub_tasks: -- subtask: Place the red marker pen in pen holder with the right gripper - subtask_index: 0 -- subtask: Place the orange marker pen in pen holder with the right gripper - subtask_index: 1 -- subtask: Place the waste paper in the box with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Grasp the black marker pen with the left gripper - subtask_index: 4 -- subtask: Place the red marker pen in pen holder with the left gripper - subtask_index: 5 -- subtask: Grasp the red marker pen with the right gripper - subtask_index: 6 -- subtask: Place the cola can in the basket with the left gripper - subtask_index: 7 -- subtask: Grasp the black marker pen with the right gripper - subtask_index: 8 -- subtask: Grasp the orange marker pen with the right gripper - subtask_index: 9 -- subtask: Place the black marker pen in pen holder with the right gripper - subtask_index: 10 -- subtask: Place the orange marker pen in pen holder with the left gripper - subtask_index: 11 -- subtask: Grasp the cola can with the left gripper - subtask_index: 12 -- subtask: Grasp the orange marker pen with the left gripper - subtask_index: 13 -- subtask: Place the milk in the basket with the left gripper - subtask_index: 14 -- subtask: Grasp the milk with the left gripper - subtask_index: 15 -- subtask: Grasp the waste paper with the right gripper - subtask_index: 16 -- subtask: Place the black marker pen in pen holder with the left gripper - subtask_index: 17 -- subtask: Grasp the red marker pen with the left gripper - subtask_index: 18 -- subtask: 'null' - subtask_index: 19 +- Place the red marker pen in pen holder with the right gripper +- Place the orange marker pen in pen holder with the right gripper +- Place the waste paper in the box with the right gripper +- End +- Grasp the black marker pen with the left gripper +- Place the red marker pen in pen holder with the left gripper +- Grasp the red marker pen with the right gripper +- Place the cola can in the basket with the left gripper +- Grasp the black marker pen with the right gripper +- Grasp the orange marker pen with the right gripper +- Place the black marker pen in pen holder with the right gripper +- Place the orange marker pen in pen holder with the left gripper +- Grasp the cola can with the left gripper +- Grasp the orange marker pen with the left gripper +- Place the milk in the basket with the left gripper +- Grasp the milk with the left gripper +- Grasp the waste paper with the right gripper +- Place the black marker pen in pen holder with the left gripper +- Grasp the red marker pen with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -147,10 +126,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -158,7 +140,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 117 total_frames: 274558 fps: 30 @@ -243,9 +226,11 @@ data_structure: 'Agilex_Split_Aloha_organize_desk_fail_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:116 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -518,7 +503,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -526,6 +511,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -552,6 +538,219 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_Agilex_Split_Aloha_organize_desk_fail + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take out the empty pen holder by hand, and then put the milk and cola into the + basket on the left. place the pen holders in the middle one by one, and then put + the papers one by one into the box on the right. + sub_tasks: + - subtask: Place the red marker pen in pen holder with the right gripper + subtask_index: 0 + - subtask: Place the orange marker pen in pen holder with the right gripper + subtask_index: 1 + - subtask: Place the waste paper in the box with the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Grasp the black marker pen with the left gripper + subtask_index: 4 + - subtask: Place the red marker pen in pen holder with the left gripper + subtask_index: 5 + - subtask: Grasp the red marker pen with the right gripper + subtask_index: 6 + - subtask: Place the cola can in the basket with the left gripper + subtask_index: 7 + - subtask: Grasp the black marker pen with the right gripper + subtask_index: 8 + - subtask: Grasp the orange marker pen with the right gripper + subtask_index: 9 + - subtask: Place the black marker pen in pen holder with the right gripper + subtask_index: 10 + - subtask: Place the orange marker pen in pen holder with the left gripper + subtask_index: 11 + - subtask: Grasp the cola can with the left gripper + subtask_index: 12 + - subtask: Grasp the orange marker pen with the left gripper + subtask_index: 13 + - subtask: Place the milk in the basket with the left gripper + subtask_index: 14 + - subtask: Grasp the milk with the left gripper + subtask_index: 15 + - subtask: Grasp the waste paper with the right gripper + subtask_index: 16 + - subtask: Place the black marker pen in pen holder with the left gripper + subtask_index: 17 + - subtask: Grasp the red marker pen with the left gripper + subtask_index: 18 + - subtask: 'null' + subtask_index: 19 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 274558 + dataset_size: 4.17 GB + data_structure: 'Agilex_Split_Aloha_organize_desk_fail_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (105 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml b/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml index 08f01755feb91f64edb9fb4361d38de655ea0b96..69892f4ad4a5ce3ee57b6e3b0d55336c4502204b 100644 --- a/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml +++ b/dataset_info/Agilex_Cobot_Magic_classify_objects_eight.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -147,213 +147,117 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Place multiple objects separately in different baskets. +task_result: 'null' +task_instruction: Place multiple objects separately in different baskets. sub_tasks: -- subtask: Place the pear in the light basket with right gripper - subtask_index: 0 -- subtask: Pick up the shampoo with left gripper - subtask_index: 1 -- subtask: Place the pink marker pen in the dark basket with right gripper - subtask_index: 2 -- subtask: Pick up the pear with left gripper - subtask_index: 3 -- subtask: Place the lime in the light basket with right gripper - subtask_index: 4 -- subtask: Place the laundry detergent in the dark basket with right gripper - subtask_index: 5 -- subtask: Place the mango in the light basket with right gripper - subtask_index: 6 -- subtask: Pick up the light brown cup with left gripper - subtask_index: 7 -- subtask: Place the orange in the light basket with right gripper - subtask_index: 8 -- subtask: Pick up the dark brown cup with left gripper - subtask_index: 9 -- subtask: Place the dark brown cup in the dark basket with left gripper - subtask_index: 10 -- subtask: Pick up the light brown cup with right gripper - subtask_index: 11 -- subtask: Pick up pink marker pen with right gripper - subtask_index: 12 -- subtask: Pick up the lime with left gripper - subtask_index: 13 -- subtask: Pick up kiwi with left gripper - subtask_index: 14 -- subtask: Pick up mango with left gripper - subtask_index: 15 -- subtask: Place the shampoo in the dark basket with right gripper - subtask_index: 16 -- subtask: Place the dark brown cup in the dark basket with right gripper - subtask_index: 17 -- subtask: Pick up the pomegranate with right gripper - subtask_index: 18 -- subtask: Pick up the pear with right gripper - subtask_index: 19 -- subtask: Pick up the dark brown cup with right gripper - subtask_index: 20 -- subtask: Pick up the red cup with right gripper - subtask_index: 21 -- subtask: Place the pomegranate in the light basket with left gripper - subtask_index: 22 -- subtask: Pick up the avocado with right gripper - subtask_index: 23 -- subtask: Pick up the hard facial cleanser with left gripper - subtask_index: 24 -- subtask: Place the Incense box in the dark basket with left gripper - subtask_index: 25 -- subtask: Pick up the shampoo with right gripper - subtask_index: 26 -- subtask: Place the banana in the light basket with right gripper - subtask_index: 27 -- subtask: Place the laundry detergent in the dark basket with left gripper - subtask_index: 28 -- subtask: Pick up the orange with right gripper - subtask_index: 29 -- subtask: Place the mangosteen in the light basket with right gripper - subtask_index: 30 -- subtask: Place the hard facial cleanser in the dark basket with right gripper - subtask_index: 31 -- subtask: Pick up Incense box with right gripper - subtask_index: 32 -- subtask: Place the red marker in the dark basket with right gripper - subtask_index: 33 -- subtask: Pick up the lemon with left gripper - subtask_index: 34 -- subtask: Place the banana in the light basket with left gripper - subtask_index: 35 -- subtask: Pick up Incense box with left gripper - subtask_index: 36 -- subtask: Pick up kiwi with right gripper - subtask_index: 37 -- subtask: Pick up the mango with right gripper - subtask_index: 38 -- subtask: Place the lemon in the light basket with left gripper - subtask_index: 39 -- subtask: Pick up the laundry detergent with left gripper - subtask_index: 40 -- subtask: Pick up toothpaste with right gripper - subtask_index: 41 -- subtask: Pick up the bread with right gripper - subtask_index: 42 -- subtask: Pick up toothpaste with left gripper - subtask_index: 43 -- subtask: Place the red cup in the dark basket with left gripper - subtask_index: 44 -- subtask: Place the red cup in the dark basket with right gripper - subtask_index: 45 -- subtask: Place the lemon in the light basket with right gripper - subtask_index: 46 -- subtask: Pick up banana with left gripper - subtask_index: 47 -- subtask: Place the avocado in the light basket with right gripper - subtask_index: 48 -- subtask: Pick up egg yolk pastry with left gripper - subtask_index: 49 -- subtask: Place the light brown cup in the dark basket with left gripper - subtask_index: 50 -- subtask: Pick up egg yolk pastry with right gripper - subtask_index: 51 -- subtask: Place the orange in the light basket with left gripper - subtask_index: 52 -- subtask: Place the hard facial cleanser in the dark basket with left gripper - subtask_index: 53 -- subtask: Pick up the lemon with right gripper - subtask_index: 54 -- subtask: Place the kiwi in the light basket with right gripper - subtask_index: 55 -- subtask: End - subtask_index: 56 -- subtask: Pick up gray cup with left gripper - subtask_index: 57 -- subtask: Place the pomegranate in the light basket with right gripper - subtask_index: 58 -- subtask: Pick up banana with right gripper - subtask_index: 59 -- subtask: Place the blackboard eraser in the dark basket with left gripper - subtask_index: 60 -- subtask: Pick up the red marker with right gripper - subtask_index: 61 -- subtask: Place the red marker in the dark basket with left gripper - subtask_index: 62 -- subtask: Place the gray cup in the dark basket with left gripper - subtask_index: 63 -- subtask: Pick up the red cup with left gripper - subtask_index: 64 -- subtask: Place the kiwi in the light basket with left gripper - subtask_index: 65 -- subtask: Pick up the mangosteen with left gripper - subtask_index: 66 -- subtask: Pick up the orange with left gripper - subtask_index: 67 -- subtask: Place the mangosteen in the light basket with left gripper - subtask_index: 68 -- subtask: Place the bread in the light basket with right gripper - subtask_index: 69 -- subtask: Place the toothpaste in the dark basket with right gripper - subtask_index: 70 -- subtask: Pick up the lime with right gripper - subtask_index: 71 -- subtask: Place the mango in the light basket with left gripper - subtask_index: 72 -- subtask: Pick up the mangosteen with right gripper - subtask_index: 73 -- subtask: Place the pink marker pen in the dark basket with left gripper - subtask_index: 74 -- subtask: Pick up the red marker with left gripper - subtask_index: 75 -- subtask: Place the pear in the light basket with left gripper - subtask_index: 76 -- subtask: Pick up blackboard eraser with right gripper - subtask_index: 77 -- subtask: Place the blackboard eraser in the dark basket with right gripper - subtask_index: 78 -- subtask: Place the shampoo in the dark basket with left gripper - subtask_index: 79 -- subtask: Place the egg yolk pastry in the light basket with left gripper - subtask_index: 80 -- subtask: Pick up the pomegranate with left gripper - subtask_index: 81 -- subtask: Place the toothpaste in the dark basket with left gripper - subtask_index: 82 -- subtask: Pick up blackboard eraser with left gripper - subtask_index: 83 -- subtask: Place the Incense box in the dark basket with right gripper - subtask_index: 84 -- subtask: Pick up the hard facial cleanser with right gripper - subtask_index: 85 -- subtask: Place the apple in the light basket with right gripper - subtask_index: 86 -- subtask: Place the avocado in the light basket with left gripper - subtask_index: 87 -- subtask: Pick up pink marker pen with left gripper - subtask_index: 88 -- subtask: Pick up the avocado with left gripper - subtask_index: 89 -- subtask: Pick up the laundry detergent with right gripper - subtask_index: 90 -- subtask: Place the egg yolk pastry in the light basket with right gripper - subtask_index: 91 -- subtask: Pick up the apple with right gripper - subtask_index: 92 -- subtask: Place the lime in the light basket with left gripper - subtask_index: 93 -- subtask: 'null' - subtask_index: 94 +- Place the pear in the light basket with right gripper +- Pick up the shampoo with left gripper +- Place the pink marker pen in the dark basket with right gripper +- Pick up the pear with left gripper +- Place the lime in the light basket with right gripper +- Place the laundry detergent in the dark basket with right gripper +- Place the mango in the light basket with right gripper +- Pick up the light brown cup with left gripper +- Place the orange in the light basket with right gripper +- Pick up the dark brown cup with left gripper +- Place the dark brown cup in the dark basket with left gripper +- Pick up the light brown cup with right gripper +- Pick up pink marker pen with right gripper +- Pick up the lime with left gripper +- Pick up kiwi with left gripper +- Pick up mango with left gripper +- Place the shampoo in the dark basket with right gripper +- Place the dark brown cup in the dark basket with right gripper +- Pick up the pomegranate with right gripper +- Pick up the pear with right gripper +- Pick up the dark brown cup with right gripper +- Pick up the red cup with right gripper +- Place the pomegranate in the light basket with left gripper +- Pick up the avocado with right gripper +- Pick up the hard facial cleanser with left gripper +- Place the Incense box in the dark basket with left gripper +- Pick up the shampoo with right gripper +- Place the banana in the light basket with right gripper +- Place the laundry detergent in the dark basket with left gripper +- Pick up the orange with right gripper +- Place the mangosteen in the light basket with right gripper +- Place the hard facial cleanser in the dark basket with right gripper +- Pick up Incense box with right gripper +- Place the red marker in the dark basket with right gripper +- Pick up the lemon with left gripper +- Place the banana in the light basket with left gripper +- Pick up Incense box with left gripper +- Pick up kiwi with right gripper +- Pick up the mango with right gripper +- Place the lemon in the light basket with left gripper +- Pick up the laundry detergent with left gripper +- Pick up toothpaste with right gripper +- Pick up the bread with right gripper +- Pick up toothpaste with left gripper +- Place the red cup in the dark basket with left gripper +- Place the red cup in the dark basket with right gripper +- Place the lemon in the light basket with right gripper +- Pick up banana with left gripper +- Place the avocado in the light basket with right gripper +- Pick up egg yolk pastry with left gripper +- Place the light brown cup in the dark basket with left gripper +- Pick up egg yolk pastry with right gripper +- Place the orange in the light basket with left gripper +- Place the hard facial cleanser in the dark basket with left gripper +- Pick up the lemon with right gripper +- Place the kiwi in the light basket with right gripper +- End +- Pick up gray cup with left gripper +- Place the pomegranate in the light basket with right gripper +- Pick up banana with right gripper +- Place the blackboard eraser in the dark basket with left gripper +- Pick up the red marker with right gripper +- Place the red marker in the dark basket with left gripper +- Place the gray cup in the dark basket with left gripper +- Pick up the red cup with left gripper +- Place the kiwi in the light basket with left gripper +- Pick up the mangosteen with left gripper +- Pick up the orange with left gripper +- Place the mangosteen in the light basket with left gripper +- Place the bread in the light basket with right gripper +- Place the toothpaste in the dark basket with right gripper +- Pick up the lime with right gripper +- Place the mango in the light basket with left gripper +- Pick up the mangosteen with right gripper +- Place the pink marker pen in the dark basket with left gripper +- Pick up the red marker with left gripper +- Place the pear in the light basket with left gripper +- Pick up blackboard eraser with right gripper +- Place the blackboard eraser in the dark basket with right gripper +- Place the shampoo in the dark basket with left gripper +- Place the egg yolk pastry in the light basket with left gripper +- Pick up the pomegranate with left gripper +- Place the toothpaste in the dark basket with left gripper +- Pick up blackboard eraser with left gripper +- Place the Incense box in the dark basket with right gripper +- Pick up the hard facial cleanser with right gripper +- Place the apple in the light basket with right gripper +- Place the avocado in the light basket with left gripper +- Pick up pink marker pen with left gripper +- Pick up the avocado with left gripper +- Pick up the laundry detergent with right gripper +- Place the egg yolk pastry in the light basket with right gripper +- Pick up the apple with right gripper +- Place the lime in the light basket with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -361,10 +265,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -372,7 +279,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 197 total_frames: 337837 fps: 30 @@ -457,9 +365,11 @@ data_structure: 'Agilex_Cobot_Magic_classify_objects_eight_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:196 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -732,7 +642,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -740,6 +650,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -766,6 +677,367 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_classify_objects_eight + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Place multiple objects separately in different baskets. + sub_tasks: + - subtask: Place the pear in the light basket with right gripper + subtask_index: 0 + - subtask: Pick up the shampoo with left gripper + subtask_index: 1 + - subtask: Place the pink marker pen in the dark basket with right gripper + subtask_index: 2 + - subtask: Pick up the pear with left gripper + subtask_index: 3 + - subtask: Place the lime in the light basket with right gripper + subtask_index: 4 + - subtask: Place the laundry detergent in the dark basket with right gripper + subtask_index: 5 + - subtask: Place the mango in the light basket with right gripper + subtask_index: 6 + - subtask: Pick up the light brown cup with left gripper + subtask_index: 7 + - subtask: Place the orange in the light basket with right gripper + subtask_index: 8 + - subtask: Pick up the dark brown cup with left gripper + subtask_index: 9 + - subtask: Place the dark brown cup in the dark basket with left gripper + subtask_index: 10 + - subtask: Pick up the light brown cup with right gripper + subtask_index: 11 + - subtask: Pick up pink marker pen with right gripper + subtask_index: 12 + - subtask: Pick up the lime with left gripper + subtask_index: 13 + - subtask: Pick up kiwi with left gripper + subtask_index: 14 + - subtask: Pick up mango with left gripper + subtask_index: 15 + - subtask: Place the shampoo in the dark basket with right gripper + subtask_index: 16 + - subtask: Place the dark brown cup in the dark basket with right gripper + subtask_index: 17 + - subtask: Pick up the pomegranate with right gripper + subtask_index: 18 + - subtask: Pick up the pear with right gripper + subtask_index: 19 + - subtask: Pick up the dark brown cup with right gripper + subtask_index: 20 + - subtask: Pick up the red cup with right gripper + subtask_index: 21 + - subtask: Place the pomegranate in the light basket with left gripper + subtask_index: 22 + - subtask: Pick up the avocado with right gripper + subtask_index: 23 + - subtask: Pick up the hard facial cleanser with left gripper + subtask_index: 24 + - subtask: Place the Incense box in the dark basket with left gripper + subtask_index: 25 + - subtask: Pick up the shampoo with right gripper + subtask_index: 26 + - subtask: Place the banana in the light basket with right gripper + subtask_index: 27 + - subtask: Place the laundry detergent in the dark basket with left gripper + subtask_index: 28 + - subtask: Pick up the orange with right gripper + subtask_index: 29 + - subtask: Place the mangosteen in the light basket with right gripper + subtask_index: 30 + - subtask: Place the hard facial cleanser in the dark basket with right gripper + subtask_index: 31 + - subtask: Pick up Incense box with right gripper + subtask_index: 32 + - subtask: Place the red marker in the dark basket with right gripper + subtask_index: 33 + - subtask: Pick up the lemon with left gripper + subtask_index: 34 + - subtask: Place the banana in the light basket with left gripper + subtask_index: 35 + - subtask: Pick up Incense box with left gripper + subtask_index: 36 + - subtask: Pick up kiwi with right gripper + subtask_index: 37 + - subtask: Pick up the mango with right gripper + subtask_index: 38 + - subtask: Place the lemon in the light basket with left gripper + subtask_index: 39 + - subtask: Pick up the laundry detergent with left gripper + subtask_index: 40 + - subtask: Pick up toothpaste with right gripper + subtask_index: 41 + - subtask: Pick up the bread with right gripper + subtask_index: 42 + - subtask: Pick up toothpaste with left gripper + subtask_index: 43 + - subtask: Place the red cup in the dark basket with left gripper + subtask_index: 44 + - subtask: Place the red cup in the dark basket with right gripper + subtask_index: 45 + - subtask: Place the lemon in the light basket with right gripper + subtask_index: 46 + - subtask: Pick up banana with left gripper + subtask_index: 47 + - subtask: Place the avocado in the light basket with right gripper + subtask_index: 48 + - subtask: Pick up egg yolk pastry with left gripper + subtask_index: 49 + - subtask: Place the light brown cup in the dark basket with left gripper + subtask_index: 50 + - subtask: Pick up egg yolk pastry with right gripper + subtask_index: 51 + - subtask: Place the orange in the light basket with left gripper + subtask_index: 52 + - subtask: Place the hard facial cleanser in the dark basket with left gripper + subtask_index: 53 + - subtask: Pick up the lemon with right gripper + subtask_index: 54 + - subtask: Place the kiwi in the light basket with right gripper + subtask_index: 55 + - subtask: End + subtask_index: 56 + - subtask: Pick up gray cup with left gripper + subtask_index: 57 + - subtask: Place the pomegranate in the light basket with right gripper + subtask_index: 58 + - subtask: Pick up banana with right gripper + subtask_index: 59 + - subtask: Place the blackboard eraser in the dark basket with left gripper + subtask_index: 60 + - subtask: Pick up the red marker with right gripper + subtask_index: 61 + - subtask: Place the red marker in the dark basket with left gripper + subtask_index: 62 + - subtask: Place the gray cup in the dark basket with left gripper + subtask_index: 63 + - subtask: Pick up the red cup with left gripper + subtask_index: 64 + - subtask: Place the kiwi in the light basket with left gripper + subtask_index: 65 + - subtask: Pick up the mangosteen with left gripper + subtask_index: 66 + - subtask: Pick up the orange with left gripper + subtask_index: 67 + - subtask: Place the mangosteen in the light basket with left gripper + subtask_index: 68 + - subtask: Place the bread in the light basket with right gripper + subtask_index: 69 + - subtask: Place the toothpaste in the dark basket with right gripper + subtask_index: 70 + - subtask: Pick up the lime with right gripper + subtask_index: 71 + - subtask: Place the mango in the light basket with left gripper + subtask_index: 72 + - subtask: Pick up the mangosteen with right gripper + subtask_index: 73 + - subtask: Place the pink marker pen in the dark basket with left gripper + subtask_index: 74 + - subtask: Pick up the red marker with left gripper + subtask_index: 75 + - subtask: Place the pear in the light basket with left gripper + subtask_index: 76 + - subtask: Pick up blackboard eraser with right gripper + subtask_index: 77 + - subtask: Place the blackboard eraser in the dark basket with right gripper + subtask_index: 78 + - subtask: Place the shampoo in the dark basket with left gripper + subtask_index: 79 + - subtask: Place the egg yolk pastry in the light basket with left gripper + subtask_index: 80 + - subtask: Pick up the pomegranate with left gripper + subtask_index: 81 + - subtask: Place the toothpaste in the dark basket with left gripper + subtask_index: 82 + - subtask: Pick up blackboard eraser with left gripper + subtask_index: 83 + - subtask: Place the Incense box in the dark basket with right gripper + subtask_index: 84 + - subtask: Pick up the hard facial cleanser with right gripper + subtask_index: 85 + - subtask: Place the apple in the light basket with right gripper + subtask_index: 86 + - subtask: Place the avocado in the light basket with left gripper + subtask_index: 87 + - subtask: Pick up pink marker pen with left gripper + subtask_index: 88 + - subtask: Pick up the avocado with left gripper + subtask_index: 89 + - subtask: Pick up the laundry detergent with right gripper + subtask_index: 90 + - subtask: Place the egg yolk pastry in the light basket with right gripper + subtask_index: 91 + - subtask: Pick up the apple with right gripper + subtask_index: 92 + - subtask: Place the lime in the light basket with left gripper + subtask_index: 93 + - subtask: 'null' + subtask_index: 94 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 337837 + dataset_size: 4.51 GB + data_structure: 'Agilex_Cobot_Magic_classify_objects_eight_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml b/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml index 459f8368eb605db552c649d712de54adecaf2a54..c007dea8f0a819eabd4f4009b661d82be3abe41b 100644 --- a/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml +++ b/dataset_info/Agilex_Cobot_Magic_classify_objects_six.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -87,79 +87,50 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place multiple objects separately in different baskets. +task_result: 'null' +task_instruction: place multiple objects separately in different baskets. sub_tasks: -- subtask: Place the orange in the light basket with left gripper - subtask_index: 0 -- subtask: Grasp the xx with the right gripper - subtask_index: 1 -- subtask: Pick up the facial cleanser with left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the facial cleanser in the dark basket with left gripper - subtask_index: 4 -- subtask: Place the XX into the basket on the left with the right gripper - subtask_index: 5 -- subtask: Place the lime in the light basket with right gripper - subtask_index: 6 -- subtask: Place the laundry detergent in the dark basket with right gripper - subtask_index: 7 -- subtask: Place the orange in the light basket with right gripper - subtask_index: 8 -- subtask: Pick up the lime with left gripper - subtask_index: 9 -- subtask: Place the XX into the basket on the right with the left gripper - subtask_index: 10 -- subtask: Place the XX into the basket on the left with the left gripper - subtask_index: 11 -- subtask: Place the XX into the basket on the right with the right gripper - subtask_index: 12 -- subtask: Grasp the xx with the left gripper - subtask_index: 13 -- subtask: Pick up the orange with left gripper - subtask_index: 14 -- subtask: Place the bread in the light basket with right gripper - subtask_index: 15 -- subtask: Pick up the laundry detergent with right gripper - subtask_index: 16 -- subtask: Abnormal - subtask_index: 17 -- subtask: Pick up the laundry detergent with left gripper - subtask_index: 18 -- subtask: Pick up the facial cleanser with right gripper - subtask_index: 19 -- subtask: Pick up the lime with right gripper - subtask_index: 20 -- subtask: Pick up the bread with right gripper - subtask_index: 21 -- subtask: Place the brown cup in the dark basket with left gripper - subtask_index: 22 -- subtask: Place the laundry detergent in the dark basket with left gripper - subtask_index: 23 -- subtask: Pick up the orange with right gripper - subtask_index: 24 -- subtask: Place the lime in the light basket with left gripper - subtask_index: 25 -- subtask: Pick up the brown cup with left gripper - subtask_index: 26 -- subtask: 'null' - subtask_index: 27 +- Place the orange in the light basket with left gripper +- Grasp the xx with the right gripper +- Pick up the facial cleanser with left gripper +- End +- Place the facial cleanser in the dark basket with left gripper +- Place the XX into the basket on the left with the right gripper +- Place the lime in the light basket with right gripper +- Place the laundry detergent in the dark basket with right gripper +- Place the orange in the light basket with right gripper +- Pick up the lime with left gripper +- Place the XX into the basket on the right with the left gripper +- Place the XX into the basket on the left with the left gripper +- Place the XX into the basket on the right with the right gripper +- Grasp the xx with the left gripper +- Pick up the orange with left gripper +- Place the bread in the light basket with right gripper +- Pick up the laundry detergent with right gripper +- Abnormal +- Pick up the laundry detergent with left gripper +- Pick up the facial cleanser with right gripper +- Pick up the lime with right gripper +- Pick up the bread with right gripper +- Place the brown cup in the dark basket with left gripper +- Place the laundry detergent in the dark basket with left gripper +- Pick up the orange with right gripper +- Place the lime in the light basket with left gripper +- Pick up the brown cup with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -167,10 +138,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -178,7 +152,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 199 total_frames: 302506 fps: 30 @@ -263,9 +238,11 @@ data_structure: 'Agilex_Cobot_Magic_classify_objects_six_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:198 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -538,7 +515,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -546,6 +523,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -572,6 +550,233 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_classify_objects_six + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place multiple objects separately in different baskets. + sub_tasks: + - subtask: Place the orange in the light basket with left gripper + subtask_index: 0 + - subtask: Grasp the xx with the right gripper + subtask_index: 1 + - subtask: Pick up the facial cleanser with left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the facial cleanser in the dark basket with left gripper + subtask_index: 4 + - subtask: Place the XX into the basket on the left with the right gripper + subtask_index: 5 + - subtask: Place the lime in the light basket with right gripper + subtask_index: 6 + - subtask: Place the laundry detergent in the dark basket with right gripper + subtask_index: 7 + - subtask: Place the orange in the light basket with right gripper + subtask_index: 8 + - subtask: Pick up the lime with left gripper + subtask_index: 9 + - subtask: Place the XX into the basket on the right with the left gripper + subtask_index: 10 + - subtask: Place the XX into the basket on the left with the left gripper + subtask_index: 11 + - subtask: Place the XX into the basket on the right with the right gripper + subtask_index: 12 + - subtask: Grasp the xx with the left gripper + subtask_index: 13 + - subtask: Pick up the orange with left gripper + subtask_index: 14 + - subtask: Place the bread in the light basket with right gripper + subtask_index: 15 + - subtask: Pick up the laundry detergent with right gripper + subtask_index: 16 + - subtask: Abnormal + subtask_index: 17 + - subtask: Pick up the laundry detergent with left gripper + subtask_index: 18 + - subtask: Pick up the facial cleanser with right gripper + subtask_index: 19 + - subtask: Pick up the lime with right gripper + subtask_index: 20 + - subtask: Pick up the bread with right gripper + subtask_index: 21 + - subtask: Place the brown cup in the dark basket with left gripper + subtask_index: 22 + - subtask: Place the laundry detergent in the dark basket with left gripper + subtask_index: 23 + - subtask: Pick up the orange with right gripper + subtask_index: 24 + - subtask: Place the lime in the light basket with left gripper + subtask_index: 25 + - subtask: Pick up the brown cup with left gripper + subtask_index: 26 + - subtask: 'null' + subtask_index: 27 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 302506 + dataset_size: 3.88 GB + data_structure: 'Agilex_Cobot_Magic_classify_objects_six_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml index 2e31314eedbbfd2633bac62bc260ff00de27ec61..f02f67d2d4ae6ac5f5817d07999a33dadf9d27ee 100644 --- a/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_bottom.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,30 +45,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the bottom drawer. +task_result: 'null' +task_instruction: close the bottom drawer. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Use the right gripper to contact the bottom layer of the storage cabinet - subtask_index: 1 -- subtask: Push the bottom drawer closed - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Use the right gripper to contact the bottom layer of the storage cabinet +- Push the bottom drawer closed +- 'null' atomic_actions: - grasp - push -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -76,10 +71,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -87,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 16270 fps: 30 @@ -188,9 +187,11 @@ data_structure: 'Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -463,7 +464,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -471,6 +472,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -497,6 +499,200 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_close_drawer_bottom + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the bottom drawer. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Use the right gripper to contact the bottom layer of the storage cabinet + subtask_index: 1 + - subtask: Push the bottom drawer closed + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - push + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 16270 + dataset_size: 157.62 MB + data_structure: 'Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml index 2aa9b35199024d9caef73ccb2e29b339eac5ab8c..83e07169e10b95bf8c6532585b2884060dde38fb 100644 --- a/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_top.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,30 +45,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the top drawer. +task_result: 'null' +task_instruction: close the top drawer. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Push the top drawer closed - subtask_index: 1 -- subtask: Use the right gripper to touch the topmost layer of the storage cabinet - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Push the top drawer closed +- Use the right gripper to touch the topmost layer of the storage cabinet +- 'null' atomic_actions: - grasp - push -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -76,10 +71,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -87,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9800 fps: 30 @@ -188,9 +187,11 @@ data_structure: 'Agilex_Cobot_Magic_close_drawer_top_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -463,7 +464,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -471,6 +472,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -497,6 +499,200 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_close_drawer_top + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the top drawer. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Push the top drawer closed + subtask_index: 1 + - subtask: Use the right gripper to touch the topmost layer of the storage cabinet + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - push + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 9800 + dataset_size: 96.54 MB + data_structure: 'Agilex_Cobot_Magic_close_drawer_top_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml b/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml index 824eb88260fffd42a221091ad76a3ba481c271b5..eb39d5a5f59f9091f2fbad94bda289f664e8e4f2 100644 --- a/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml +++ b/dataset_info/Agilex_Cobot_Magic_close_drawer_upper.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,34 +45,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the upper drawer. +task_result: 'null' +task_instruction: close the upper drawer. sub_tasks: -- subtask: Use the right gripper to touch the topmost layer of the storage cabinet - subtask_index: 0 -- subtask: Push the top drawer closed - subtask_index: 1 -- subtask: Use the right gripper to contact the middle shelf of the cabinet - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Push the middle drawer closed - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Use the right gripper to touch the topmost layer of the storage cabinet +- Push the top drawer closed +- Use the right gripper to contact the middle shelf of the cabinet +- End +- Push the middle drawer closed +- 'null' atomic_actions: - grasp - push -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -80,10 +73,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -91,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 173 total_frames: 49994 fps: 30 @@ -192,9 +189,11 @@ data_structure: 'Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:172 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -467,7 +466,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -475,6 +474,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -501,6 +501,204 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_close_drawer_upper + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the upper drawer. + sub_tasks: + - subtask: Use the right gripper to touch the topmost layer of the storage cabinet + subtask_index: 0 + - subtask: Push the top drawer closed + subtask_index: 1 + - subtask: Use the right gripper to contact the middle shelf of the cabinet + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Push the middle drawer closed + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - push + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 49994 + dataset_size: 522.40 MB + data_structure: 'Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (161 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_connect_block.yaml b/dataset_info/Agilex_Cobot_Magic_connect_block.yaml index a5a687d1f3813589ee5c9f45436d8bfb6d1656ad..abeab3fd54f060c52cb27db61b99a58e0866f2d4 100644 --- a/dataset_info/Agilex_Cobot_Magic_connect_block.yaml +++ b/dataset_info/Agilex_Cobot_Magic_connect_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,1183 +45,321 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- According to the building block template in front, assemble the scattered blocks - together. +task_result: 'null' +task_instruction: According to the building block template in front, assemble the + scattered blocks together. sub_tasks: -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 0 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 1 -- subtask: Put the yellow build block in the center of the table - subtask_index: 2 -- subtask: 'Put the blue build block on the right of the yellow build block - - ' - subtask_index: 3 -- subtask: 'Put the green build block on the red build block - - ' - subtask_index: 4 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 5 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 6 -- subtask: 'Put the orange build block on the right of the red build block - - ' - subtask_index: 7 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 8 -- subtask: 'Put the green build block on the left of the blue build block - - ' - subtask_index: 9 -- subtask: 'Put the blue build block on the left of the yellow build block - - ' - subtask_index: 10 -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 11 -- subtask: 'Put the orange build block on the front of the blue build block - - ' - subtask_index: 12 -- subtask: 'Put the orange build block on the left of the green build block - - ' - subtask_index: 13 -- subtask: 'Put the blue build block on the right of the green build block - - ' - subtask_index: 14 -- subtask: 'Put the green build block on the behind of the blue build block - - ' - subtask_index: 15 -- subtask: 'Put the orange build block on the right of the build block - - ' - subtask_index: 16 -- subtask: 'Put the orange build block on the right of the green build block - - ' - subtask_index: 17 -- subtask: 'Put the red build block on the behind of the orange build block - - ' - subtask_index: 18 -- subtask: 'Put the red build block on the front of the yellow build block - - ' - subtask_index: 19 -- subtask: 'Put the orange build block on the front of the yellow build block - - ' - subtask_index: 20 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 21 -- subtask: 'Put the orange build block in the center of the table - - ' - subtask_index: 22 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 23 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 24 -- subtask: 'Put the orange build block on the left of the blue build block - - ' - subtask_index: 25 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 26 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 27 -- subtask: 'Put the red build block on the behind of the blue build block - - ' - subtask_index: 28 -- subtask: 'Put the blue build block on the behind of the orange build block - - ' - subtask_index: 29 -- subtask: 'Put the orange build block on the behind of the green build block - - ' - subtask_index: 30 -- subtask: 'Put the red build block on the right of the yellow build block - - ' - subtask_index: 31 -- subtask: 'Put the yellow build block on the front of the orange build block - - ' - subtask_index: 32 -- subtask: 'Put the blue build block on the right of the green build block - - ' - subtask_index: 33 -- subtask: 'Put the blue build block on the right of the red build block - - ' - subtask_index: 34 -- subtask: 'Put the red build block on the behind of the orange build block - - ' - subtask_index: 35 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 36 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 37 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 38 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 39 -- subtask: 'Put the orange build block on the behind of the red build block - - ' - subtask_index: 40 -- subtask: 'Put theyellow build block on the behind of the blue build block - - ' - subtask_index: 41 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 42 -- subtask: 'Put the red build block on the right of the orange build block - - ' - subtask_index: 43 -- subtask: 'Put the yellow build block on the right of the red build block - - ' - subtask_index: 44 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 45 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 46 -- subtask: 'Put the orange build block in the center of the table - - ' - subtask_index: 47 -- subtask: 'Put the green build block on the orange build block - - ' - subtask_index: 48 -- subtask: 'Put the yellow build block on the right of the blue build block - - ' - subtask_index: 49 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 50 -- subtask: 'Put the green build block on the blue build block - - ' - subtask_index: 51 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 52 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 53 -- subtask: 'Put the orange build block on the behind of the green build block - - ' - subtask_index: 54 -- subtask: 'Put the red build block on the right of the yellow build block - - ' - subtask_index: 55 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 56 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 57 -- subtask: 'Put the yellow build block on the behind of the orange build block - - ' - subtask_index: 58 -- subtask: 'Put the orange build block in the center of the table - - ' - subtask_index: 59 -- subtask: 'Put the blue build block on the right of the yellow build block - - ' - subtask_index: 60 -- subtask: 'Put the orange build block on the behind of the yellow build block - - ' - subtask_index: 61 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 62 -- subtask: 'Put the blue build block on the front of the orange build block - - ' - subtask_index: 63 -- subtask: 'Put the green build block on the behind of the red build block - - ' - subtask_index: 64 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 65 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 66 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 67 -- subtask: 'Put the red build block on the behind of the green build block - - ' - subtask_index: 68 -- subtask: 'Put the blue build block on the behind of the orange build block - - ' - subtask_index: 69 -- subtask: 'Put the yellow build block on the right of the red build block - - ' - subtask_index: 70 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 71 -- subtask: 'Put the red build block on the behind of the yellow build block - - ' - subtask_index: 72 -- subtask: 'Put the yellow build block on the right of the red build block - - ' - subtask_index: 73 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 74 -- subtask: 'Put the red build block on the blue build block - - ' - subtask_index: 75 -- subtask: 'Put the orange build block on the left of the yellow build block - - ' - subtask_index: 76 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 77 -- subtask: 'Put the red build block on the left of the orange build block - - ' - subtask_index: 78 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 79 -- subtask: 'Put the red build block on the right of the orange build block - - ' - subtask_index: 80 -- subtask: 'Put the orange build block on the behind of the yellow build block - - ' - subtask_index: 81 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 82 -- subtask: 'Put the yellow build block on the behind of the red build block - - ' - subtask_index: 83 -- subtask: 'Put the yellow build block on the behind of the blue build block - - ' - subtask_index: 84 -- subtask: 'Put the orange build block on the behind of the red build block - - ' - subtask_index: 85 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 86 -- subtask: 'Put the green build block on the right of the blue build block - - ' - subtask_index: 87 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 88 -- subtask: 'Put the blue build block on the right of the yellow build block - - ' - subtask_index: 89 -- subtask: 'Put the red build block on the right of the green build block - - ' - subtask_index: 90 -- subtask: 'Put the orange build block on the behind of the yellow build block - - ' - subtask_index: 91 -- subtask: 'Put the yellow build block on the blue build block - - ' - subtask_index: 92 -- subtask: 'Put the red build block on the right of the orange build block - - ' - subtask_index: 93 -- subtask: 'Put the bluebuild block on the right of the yellow build block - - ' - subtask_index: 94 -- subtask: 'Put the red build block in the center of the table - - ' - subtask_index: 95 -- subtask: 'Put the red build block on the blue build block - - ' - subtask_index: 96 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 97 -- subtask: 'Put the blue build block on the behind of the orange build block - - ' - subtask_index: 98 -- subtask: 'Put the yellow build block on the right of the red build block - - ' - subtask_index: 99 -- subtask: ' - - Put the yellow build block on the behind of the green build block - - ' - subtask_index: 100 -- subtask: 'Put the yellow build block on the right of the orange build block - - ' - subtask_index: 101 -- subtask: 'Put the orange build block on the behind of the blue build block - - ' - subtask_index: 102 -- subtask: 'Put the orange build block on the right of the red build block - - ' - subtask_index: 103 -- subtask: 'Put the green build block on the behind of the orange build block - - ' - subtask_index: 104 -- subtask: 'Put the blue build block on the behind of the yellow build block - - ' - subtask_index: 105 -- subtask: 'Put the yellow build block on the right of the orange build block - - ' - subtask_index: 106 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 107 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 108 -- subtask: 'Put the red build block on the front of the blue build block - - ' - subtask_index: 109 -- subtask: 'Put the red build block on the behind of the green'' build block - - ' - subtask_index: 110 -- subtask: 'Put the red build block on the behind of the orange build block - - ' - subtask_index: 111 -- subtask: 'Put the red build block on the left of the green build block - - ' - subtask_index: 112 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 113 -- subtask: 'Put blue the build block on the right of the red build block - - ' - subtask_index: 114 -- subtask: 'Put the green build block on the orange build block - - ' - subtask_index: 115 -- subtask: 'Put the orange build block on the right of the red build block - - ' - subtask_index: 116 -- subtask: 'Put the blue build block on the right of the green build block - - ' - subtask_index: 117 -- subtask: 'Put the yellow build block on the right of the blue build block - - ' - subtask_index: 118 -- subtask: 'Put the orange build block on the behind of the blue build block - - ' - subtask_index: 119 -- subtask: ' - - Put the yellow build block in the center of the table' - subtask_index: 120 -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 121 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 122 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 123 -- subtask: 'Put the orange build block in the center of the table - - ' - subtask_index: 124 -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 125 -- subtask: 'Put the red build block on the right of the yellow build block - - ' - subtask_index: 126 -- subtask: 'Put the yellow build block on the behind of the red build block - - ' - subtask_index: 127 -- subtask: 'Put the red build block on the behind of the green build block - - ' - subtask_index: 128 -- subtask: Put the green build block on the behind of the blue build block - subtask_index: 129 -- subtask: 'Put the green build block on the behind of the orange build block - - ' - subtask_index: 130 -- subtask: 'Put the blue build block on the right of the green build block - - ' - subtask_index: 131 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 132 -- subtask: Put the green build block on the behind of the blue build block - subtask_index: 133 -- subtask: 'Put the green build block on the left of the orange build block - - ' - subtask_index: 134 -- subtask: 'Put the red build block on the behind of the yellow build block - - ' - subtask_index: 135 -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 136 -- subtask: 'Put the blue build block on the behind of the red build block - - ' - subtask_index: 137 -- subtask: 'Put the orange build block on the behind of the red build block - - ' - subtask_index: 138 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 139 -- subtask: 'Put the yellow build block on the blue build block - - ' - subtask_index: 140 -- subtask: 'Put the red build block on the front of the green build block - - ' - subtask_index: 141 -- subtask: 'Put the red build block on the left of the ornage build block - - ' - subtask_index: 142 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 143 -- subtask: 'Put the red build block on the right of the green build block - - ' - subtask_index: 144 -- subtask: 'Put the yellow build block on the right of the orange build block - - ' - subtask_index: 145 -- subtask: 'Put the yellow build block on the right of the blue build block - - ' - subtask_index: 146 -- subtask: Put the XX build block on the XX build block - subtask_index: 147 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 148 -- subtask: 'Put the orange build block on the green build block - - ' - subtask_index: 149 -- subtask: End - subtask_index: 150 -- subtask: 'Put the blue build block on the right of the red build block - - ' - subtask_index: 151 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 152 -- subtask: 'Put the greem build block on the behind of the blue build block - - ' - subtask_index: 153 -- subtask: 'Put the left build block on the left of the green build block - - ' - subtask_index: 154 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 155 -- subtask: 'Put the red build block on the left of the blue build block - - ' - subtask_index: 156 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 157 -- subtask: 'Put the yellow build block on the behind of the orange build block - - ' - subtask_index: 158 -- subtask: 'Put the green build block on the behind of the blue build block - - ' - subtask_index: 159 -- subtask: 'Put the yellow build block on the right of the orange build block - - ' - subtask_index: 160 -- subtask: 'Put the blue build block on the behind of the orange build block - - ' - subtask_index: 161 -- subtask: 'Put the red build block on the front of the green build block - - ' - subtask_index: 162 -- subtask: 'Put the red build block on the front of the yellow build block - - ' - subtask_index: 163 -- subtask: 'Put the yellow build block on the behind of the blue build block - - ' - subtask_index: 164 -- subtask: 'Put the blue build block on the orange build block - - ' - subtask_index: 165 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 166 -- subtask: 'Put the orange build block on the front of the blue build block - - ' - subtask_index: 167 -- subtask: 'Put the blue build block on the right of the yellow build block - - ' - subtask_index: 168 -- subtask: 'Put the blue build block on the left of the yellow build block - - ' - subtask_index: 169 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 170 -- subtask: 'Put the orange build block on the left of the red build block - - ' - subtask_index: 171 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 172 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 173 -- subtask: Put the blue build block on the right of the yellow build block - subtask_index: 174 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 175 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 176 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 177 -- subtask: 'Put the green build block on the right of the blue build block - - ' - subtask_index: 178 -- subtask: 'Put the yellow build block in the center of the table - - ' - subtask_index: 179 -- subtask: Abnormal - subtask_index: 180 -- subtask: 'Put the red build block on the behind of the orange build block - - ' - subtask_index: 181 -- subtask: 'Put the red build block on the yellow build block - - ' - subtask_index: 182 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 183 -- subtask: 'Put the red build block on the right of the yellow build block - - ' - subtask_index: 184 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 185 -- subtask: 'Put the orange build block on the orange build block - - ' - subtask_index: 186 -- subtask: 'Put the blue build block on the behind of the red build block - - ' - subtask_index: 187 -- subtask: 'Put the yellow build block on the right of the blue build block - - ' - subtask_index: 188 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 189 -- subtask: 'Put the yellow build block on the left of the blue build block - - ' - subtask_index: 190 -- subtask: 'Put the yellow build block on the right of the orange build block - - ' - subtask_index: 191 -- subtask: 'Put the yellow build block on the blue build block - - ' - subtask_index: 192 -- subtask: 'Put the yellow build block on the behind of the blue build block - - ' - subtask_index: 193 -- subtask: 'Put the green build block on the right of the blue build block - - ' - subtask_index: 194 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 195 -- subtask: 'Put the red build block on the behind of the green build block - - ' - subtask_index: 196 -- subtask: 'Put the red build block in the center of the table - - ' - subtask_index: 197 -- subtask: 'Put the yellow build block on the behind of the blue build block - - ' - subtask_index: 198 -- subtask: 'Put the green build block on the behind of the orange build block - - ' - subtask_index: 199 -- subtask: 'Put the yellow build block on the behind of the red build block - - ' - subtask_index: 200 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 201 -- subtask: 'Put the green build block on the red build block - - ' - subtask_index: 202 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 203 -- subtask: 'Put the red build block on the behind of the orange build block - - ' - subtask_index: 204 -- subtask: 'Put the red build block in the center of the table - - ' - subtask_index: 205 -- subtask: 'Put the red build block in the center of the table - - ' - subtask_index: 206 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 207 -- subtask: 'Put the green build block on the front of the blue build block - - ' - subtask_index: 208 -- subtask: 'Put the yellow build block on the behind of the orange build block - - ' - subtask_index: 209 -- subtask: 'Put the yellow build block on the behind of the blue build block - - ' - subtask_index: 210 -- subtask: 'Put the green build block on the blue build block - - ' - subtask_index: 211 -- subtask: Put the blue build block on the right of the yellow build block - subtask_index: 212 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 213 -- subtask: 'Put the orange build block on the left of the red build block - - ' - subtask_index: 214 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 215 -- subtask: 'Put the blue build block on the front of the green build block - - ' - subtask_index: 216 -- subtask: 'Put the yellow build block on the orange build block - - ' - subtask_index: 217 -- subtask: 'Put the yellow build block on the front of the red build block - - ' - subtask_index: 218 -- subtask: 'Put the orange build block on the behind of the red build block - - ' - subtask_index: 219 -- subtask: 'Put the yellow build block on the behind of the green build block - - ' - subtask_index: 220 -- subtask: 'Put the blue build block on the right of orange the build block - - ' - subtask_index: 221 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 222 -- subtask: 'Put the green build block on the behind of the orange build block - - ' - subtask_index: 223 -- subtask: 'Put the green build block on the behind of the yellow build block - - ' - subtask_index: 224 -- subtask: 'Put the yellow build block on the right of the green build block - - ' - subtask_index: 225 -- subtask: 'Put the orange build block on the right of the green build block - - ' - subtask_index: 226 -- subtask: 'Put the orange build block on the right of the yellow build block - - ' - subtask_index: 227 -- subtask: 'Put the red build block on the green build block - - ' - subtask_index: 228 -- subtask: 'Put the red build block on the right of the blue build block - - ' - subtask_index: 229 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 230 -- subtask: 'Put the orange build block on the right of the red build block - - ' - subtask_index: 231 -- subtask: 'Put the blue build block on the red build block - - ' - subtask_index: 232 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 233 -- subtask: 'Put the orange build block on the left of the yellow build block - - ' - subtask_index: 234 -- subtask: 'Put the right build block on the right of the yellow build block - - ' - subtask_index: 235 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 236 -- subtask: 'Put the orange build block on the right of the green build block - - ' - subtask_index: 237 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 238 -- subtask: 'Put the orange build block on the behind of the yellow build block - - ' - subtask_index: 239 -- subtask: 'Put the orange build block on the right of the blue build block - - ' - subtask_index: 240 -- subtask: 'Put the orange build block on the behind of the blue build block - - ' - subtask_index: 241 -- subtask: 'Put the red build block on the behind of the yellow build block - - ' - subtask_index: 242 -- subtask: 'Put the ornage build block on the behind of the green build block - - ' - subtask_index: 243 -- subtask: 'Put the blue build block on the left of the yellow build block - - ' - subtask_index: 244 -- subtask: 'Put the green build block on the front of the blue build block - - ' - subtask_index: 245 -- subtask: 'Put the green build block on the behind of the red build block - - ' - subtask_index: 246 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 247 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 248 -- subtask: 'Put the yellow build block on the behind of the red build block - - ' - subtask_index: 249 -- subtask: 'Put the blue build block on the green build block - - ' - subtask_index: 250 -- subtask: Put the blue build block on the right of the orange build block - subtask_index: 251 -- subtask: 'Put the orange build block on the right of the green build block - - ' - subtask_index: 252 -- subtask: 'Put the orange build block on the behind of the yellow build block - - ' - subtask_index: 253 -- subtask: 'Put the green build block in the center of the table - - ' - subtask_index: 254 -- subtask: 'Put the blue build block on the behind of the orange build block - - ' - subtask_index: 255 -- subtask: Put the green build block on the left of the orange build block - subtask_index: 256 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 257 -- subtask: 'Put the green build block on the left of the blue build block - - ' - subtask_index: 258 -- subtask: 'Put the orange build block on the right of the green build block - - ' - subtask_index: 259 -- subtask: 'Put the green build block on the orange build block - - ' - subtask_index: 260 -- subtask: 'Put the blue build block on the behind of the green build block - - ' - subtask_index: 261 -- subtask: 'Put the yellow build block on the behind of the red build block - - ' - subtask_index: 262 -- subtask: 'Put the orange build block on the green build block - - ' - subtask_index: 263 -- subtask: 'Put the red build block on the behind of the blue build block - - ' - subtask_index: 264 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 265 -- subtask: move the build block to the center of the table - subtask_index: 266 -- subtask: 'Put the green build block on the right of the red build block - - ' - subtask_index: 267 -- subtask: 'Put the red build block on the behind of the green build block - - ' - subtask_index: 268 -- subtask: 'Put the red build block on the behind of the blue build block - - ' - subtask_index: 269 -- subtask: 'Put the yellow build block on the behind of the orange build block - - ' - subtask_index: 270 -- subtask: 'Put the red build block on the right of the orange build block - - ' - subtask_index: 271 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 272 -- subtask: 'Put the red build block on the right of the yellow build block - - ' - subtask_index: 273 -- subtask: 'Put the red build block in the center of the table - - ' - subtask_index: 274 -- subtask: Put the red build block on the right of the blue build block - subtask_index: 275 -- subtask: Put the yellow build block on the behind of the green build block - subtask_index: 276 -- subtask: 'Put the red build block on the right of the orange build block - - ' - subtask_index: 277 -- subtask: 'Put the blue build block on the right of the orange build block - - ' - subtask_index: 278 -- subtask: 'Put the orange build block on the behind of the green build block - - ' - subtask_index: 279 -- subtask: 'Put the blue build block on the front of the green build block - - ' - subtask_index: 280 -- subtask: 'Put the ornage build block on the behind of the blue build block - - ' - subtask_index: 281 -- subtask: 'Put the yellow build block on the behind of the orange build block - - ' - subtask_index: 282 -- subtask: 'Put the green build block on the behind of the blue build block - - ' - subtask_index: 283 -- subtask: 'Put the green build block on the left of the blue build block - - ' - subtask_index: 284 -- subtask: 'Put the blue build block in the center of the table - - ' - subtask_index: 285 -- subtask: 'Put the green build block on the right of the yellow build block - - ' - subtask_index: 286 -- subtask: Put the yellow build block on the behind of the blue build block - subtask_index: 287 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 288 -- subtask: 'Put the green build block on the blue build block - - ' - subtask_index: 289 -- subtask: 'Put the orange build block on the behind of the blue build block - - ' - subtask_index: 290 -- subtask: 'Put the red build block on the behind of the yellow build block - - ' - subtask_index: 291 -- subtask: 'Put the orange build block on the blue build block - - ' - subtask_index: 292 -- subtask: 'Put the green build block on the right of the orange build block - - ' - subtask_index: 293 -- subtask: 'Put the orange build block on the left of the red build block - - ' - subtask_index: 294 -- subtask: Put the green build block in the center of the table - subtask_index: 295 -- subtask: 'null' - subtask_index: 296 +- Put the yellow build block on the right of the green build block +- Put the blue build block on the behind of the green build block +- Put the yellow build block in the center of the table +- Put the blue build block on the right of the yellow build block +- Put the green build block on the red build block +- Put the yellow build block on the behind of the green build block +- Put the orange build block on the right of the yellow build block +- Put the orange build block on the right of the red build block +- Put the orange build block on the right of the blue build block +- Put the green build block on the left of the blue build block +- Put the blue build block on the left of the yellow build block +- Put the yellow build block on the right of the green build block +- Put the orange build block on the front of the blue build block +- Put the orange build block on the left of the green build block +- Put the blue build block on the right of the green build block +- Put the green build block on the behind of the blue build block +- Put the orange build block on the right of the build block +- Put the orange build block on the right of the green build block +- Put the red build block on the behind of the orange build block +- Put the red build block on the front of the yellow build block +- Put the orange build block on the front of the yellow build block +- Put the blue build block on the behind of the green build block +- Put the orange build block in the center of the table +- Put the yellow build block in the center of the table +- Put the green build block on the behind of the yellow build block +- Put the orange build block on the left of the blue build block +- Put the red build block on the right of the blue build block +- Put the yellow build block in the center of the table +- Put the red build block on the behind of the blue build block +- Put the blue build block on the behind of the orange build block +- Put the orange build block on the behind of the green build block +- Put the red build block on the right of the yellow build block +- Put the yellow build block on the front of the orange build block +- Put the blue build block on the right of the green build block +- Put the blue build block on the right of the red build block +- Put the red build block on the behind of the orange build block +- Put the yellow build block on the behind of the green build block +- Put the red build block on the right of the blue build block +- Put the green build block on the behind of the yellow build block +- Put the yellow build block on the behind of the green build block +- Put the orange build block on the behind of the red build block +- Put theyellow build block on the behind of the blue build block +- Put the green build block on the behind of the yellow build block +- Put the red build block on the right of the orange build block +- Put the yellow build block on the right of the red build block +- Put the blue build block on the right of the orange build block +- Put the green build block on the right of the yellow build block +- Put the orange build block in the center of the table +- Put the green build block on the orange build block +- Put the yellow build block on the right of the blue build block +- Put the green build block on the right of the red build block +- Put the green build block on the blue build block +- Put the green build block on the right of the orange build block +- Put the blue build block in the center of the table +- Put the orange build block on the behind of the green build block +- Put the red build block on the right of the yellow build block +- Put the blue build block on the behind of the green build block +- Put the orange build block on the right of the blue build block +- Put the yellow build block on the behind of the orange build block +- Put the orange build block in the center of the table +- Put the blue build block on the right of the yellow build block +- Put the orange build block on the behind of the yellow build block +- Put the yellow build block on the behind of the green build block +- Put the blue build block on the front of the orange build block +- Put the green build block on the behind of the red build block +- Put the green build block in the center of the table +- Put the green build block on the right of the yellow build block +- Put the red build block on the right of the blue build block +- Put the red build block on the behind of the green build block +- Put the blue build block on the behind of the orange build block +- Put the yellow build block on the right of the red build block +- Put the blue build block in the center of the table +- Put the red build block on the behind of the yellow build block +- Put the yellow build block on the right of the red build block +- Put the green build block on the right of the orange build block +- Put the red build block on the blue build block +- Put the orange build block on the left of the yellow build block +- Put the green build block on the right of the red build block +- Put the red build block on the left of the orange build block +- Put the orange build block on the right of the blue build block +- Put the red build block on the right of the orange build block +- Put the orange build block on the behind of the yellow build block +- Put the yellow build block in the center of the table +- Put the yellow build block on the behind of the red build block +- Put the yellow build block on the behind of the blue build block +- Put the orange build block on the behind of the red build block +- Put the yellow build block in the center of the table +- Put the green build block on the right of the blue build block +- Put the orange build block on the right of the yellow build block +- Put the blue build block on the right of the yellow build block +- Put the red build block on the right of the green build block +- Put the orange build block on the behind of the yellow build block +- Put the yellow build block on the blue build block +- Put the red build block on the right of the orange build block +- Put the bluebuild block on the right of the yellow build block +- Put the red build block in the center of the table +- Put the red build block on the blue build block +- Put the orange build block on the right of the blue build block +- Put the blue build block on the behind of the orange build block +- Put the yellow build block on the right of the red build block +- Put the yellow build block on the behind of the green build block +- Put the yellow build block on the right of the orange build block +- Put the orange build block on the behind of the blue build block +- Put the orange build block on the right of the red build block +- Put the green build block on the behind of the orange build block +- Put the blue build block on the behind of the yellow build block +- Put the yellow build block on the right of the orange build block +- Put the green build block on the behind of the yellow build block +- Put the green build block on the right of the red build block +- Put the red build block on the front of the blue build block +- Put the red build block on the behind of the green' build block +- Put the red build block on the behind of the orange build block +- Put the red build block on the left of the green build block +- Put the green build block on the behind of the yellow build block +- Put blue the build block on the right of the red build block +- Put the green build block on the orange build block +- Put the orange build block on the right of the red build block +- Put the blue build block on the right of the green build block +- Put the yellow build block on the right of the blue build block +- Put the orange build block on the behind of the blue build block +- Put the yellow build block in the center of the table +- Put the yellow build block on the right of the green build block +- Put the green build block on the behind of the yellow build block +- Put the blue build block in the center of the table +- Put the orange build block in the center of the table +- Put the yellow build block on the right of the green build block +- Put the red build block on the right of the yellow build block +- Put the yellow build block on the behind of the red build block +- Put the red build block on the behind of the green build block +- Put the green build block on the behind of the blue build block +- Put the green build block on the behind of the orange build block +- Put the blue build block on the right of the green build block +- Put the green build block in the center of the table +- Put the green build block on the behind of the blue build block +- Put the green build block on the left of the orange build block +- Put the red build block on the behind of the yellow build block +- Put the yellow build block on the right of the green build block +- Put the blue build block on the behind of the red build block +- Put the orange build block on the behind of the red build block +- Put the blue build block on the behind of the green build block +- Put the yellow build block on the blue build block +- Put the red build block on the front of the green build block +- Put the red build block on the left of the ornage build block +- Put the green build block in the center of the table +- Put the red build block on the right of the green build block +- Put the yellow build block on the right of the orange build block +- Put the yellow build block on the right of the blue build block +- Put the XX build block on the XX build block +- Put the yellow build block in the center of the table +- Put the orange build block on the green build block +- End +- Put the blue build block on the right of the red build block +- Put the green build block on the right of the orange build block +- Put the greem build block on the behind of the blue build block +- Put the left build block on the left of the green build block +- Put the green build block on the right of the orange build block +- Put the red build block on the left of the blue build block +- Put the blue build block on the right of the orange build block +- Put the yellow build block on the behind of the orange build block +- Put the green build block on the behind of the blue build block +- Put the yellow build block on the right of the orange build block +- Put the blue build block on the behind of the orange build block +- Put the red build block on the front of the green build block +- Put the red build block on the front of the yellow build block +- Put the yellow build block on the behind of the blue build block +- Put the blue build block on the orange build block +- Put the green build block in the center of the table +- Put the orange build block on the front of the blue build block +- Put the blue build block on the right of the yellow build block +- Put the blue build block on the left of the yellow build block +- Put the orange build block on the right of the yellow build block +- Put the orange build block on the left of the red build block +- Put the green build block in the center of the table +- Put the red build block on the right of the blue build block +- Put the blue build block on the right of the yellow build block +- Put the green build block on the right of the orange build block +- Put the blue build block in the center of the table +- Put the green build block on the right of the red build block +- Put the green build block on the right of the blue build block +- Put the yellow build block in the center of the table +- Abnormal +- Put the red build block on the behind of the orange build block +- Put the red build block on the yellow build block +- Put the orange build block on the right of the yellow build block +- Put the red build block on the right of the yellow build block +- Put the orange build block on the right of the blue build block +- Put the orange build block on the orange build block +- Put the blue build block on the behind of the red build block +- Put the yellow build block on the right of the blue build block +- Put the yellow build block on the behind of the green build block +- Put the yellow build block on the left of the blue build block +- Put the yellow build block on the right of the orange build block +- Put the yellow build block on the blue build block +- Put the yellow build block on the behind of the blue build block +- Put the green build block on the right of the blue build block +- Put the orange build block on the right of the yellow build block +- Put the red build block on the behind of the green build block +- Put the red build block in the center of the table +- Put the yellow build block on the behind of the blue build block +- Put the green build block on the behind of the orange build block +- Put the yellow build block on the behind of the red build block +- Put the green build block on the right of the yellow build block +- Put the green build block on the red build block +- Put the blue build block on the right of the orange build block +- Put the red build block on the behind of the orange build block +- Put the red build block in the center of the table +- Put the red build block in the center of the table +- Put the green build block on the right of the orange build block +- Put the green build block on the front of the blue build block +- Put the yellow build block on the behind of the orange build block +- Put the yellow build block on the behind of the blue build block +- Put the green build block on the blue build block +- Put the blue build block on the right of the yellow build block +- Put the blue build block on the right of the orange build block +- Put the orange build block on the left of the red build block +- Put the orange build block on the right of the blue build block +- Put the blue build block on the front of the green build block +- Put the yellow build block on the orange build block +- Put the yellow build block on the front of the red build block +- Put the orange build block on the behind of the red build block +- Put the yellow build block on the behind of the green build block +- Put the blue build block on the right of orange the build block +- Put the red build block on the right of the blue build block +- Put the green build block on the behind of the orange build block +- Put the green build block on the behind of the yellow build block +- Put the yellow build block on the right of the green build block +- Put the orange build block on the right of the green build block +- Put the orange build block on the right of the yellow build block +- Put the red build block on the green build block +- Put the red build block on the right of the blue build block +- Put the blue build block on the behind of the green build block +- Put the orange build block on the right of the red build block +- Put the blue build block on the red build block +- Put the orange build block on the right of the blue build block +- Put the orange build block on the left of the yellow build block +- Put the right build block on the right of the yellow build block +- Put the green build block on the right of the red build block +- Put the orange build block on the right of the green build block +- Put the blue build block in the center of the table +- Put the orange build block on the behind of the yellow build block +- Put the orange build block on the right of the blue build block +- Put the orange build block on the behind of the blue build block +- Put the red build block on the behind of the yellow build block +- Put the ornage build block on the behind of the green build block +- Put the blue build block on the left of the yellow build block +- Put the green build block on the front of the blue build block +- Put the green build block on the behind of the red build block +- Put the green build block on the right of the orange build block +- Put the green build block on the right of the orange build block +- Put the yellow build block on the behind of the red build block +- Put the blue build block on the green build block +- Put the blue build block on the right of the orange build block +- Put the orange build block on the right of the green build block +- Put the orange build block on the behind of the yellow build block +- Put the green build block in the center of the table +- Put the blue build block on the behind of the orange build block +- Put the green build block on the left of the orange build block +- Put the green build block on the right of the yellow build block +- Put the green build block on the left of the blue build block +- Put the orange build block on the right of the green build block +- Put the green build block on the orange build block +- Put the blue build block on the behind of the green build block +- Put the yellow build block on the behind of the red build block +- Put the orange build block on the green build block +- Put the red build block on the behind of the blue build block +- Put the blue build block on the right of the orange build block +- move the build block to the center of the table +- Put the green build block on the right of the red build block +- Put the red build block on the behind of the green build block +- Put the red build block on the behind of the blue build block +- Put the yellow build block on the behind of the orange build block +- Put the red build block on the right of the orange build block +- Put the green build block on the right of the yellow build block +- Put the red build block on the right of the yellow build block +- Put the red build block in the center of the table +- Put the red build block on the right of the blue build block +- Put the yellow build block on the behind of the green build block +- Put the red build block on the right of the orange build block +- Put the blue build block on the right of the orange build block +- Put the orange build block on the behind of the green build block +- Put the blue build block on the front of the green build block +- Put the ornage build block on the behind of the blue build block +- Put the yellow build block on the behind of the orange build block +- Put the green build block on the behind of the blue build block +- Put the green build block on the left of the blue build block +- Put the blue build block in the center of the table +- Put the green build block on the right of the yellow build block +- Put the yellow build block on the behind of the blue build block +- Put the green build block on the right of the orange build block +- Put the green build block on the blue build block +- Put the orange build block on the behind of the blue build block +- Put the red build block on the behind of the yellow build block +- Put the orange build block on the blue build block +- Put the green build block on the right of the orange build block +- Put the orange build block on the left of the red build block +- Put the green build block in the center of the table +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_chest_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -1231,10 +369,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -1242,7 +383,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 238 total_frames: 232528 fps: 30 @@ -1329,9 +471,11 @@ data_structure: 'Agilex_Cobot_Magic_connect_block_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:237 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -1623,7 +767,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -1631,6 +775,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -1657,6 +802,1338 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_connect_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - According to the building block template in front, assemble the scattered blocks + together. + sub_tasks: + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 0 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 1 + - subtask: Put the yellow build block in the center of the table + subtask_index: 2 + - subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 3 + - subtask: 'Put the green build block on the red build block + + ' + subtask_index: 4 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 5 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 6 + - subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 7 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 8 + - subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 9 + - subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 10 + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 11 + - subtask: 'Put the orange build block on the front of the blue build block + + ' + subtask_index: 12 + - subtask: 'Put the orange build block on the left of the green build block + + ' + subtask_index: 13 + - subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 14 + - subtask: 'Put the green build block on the behind of the blue build block + + ' + subtask_index: 15 + - subtask: 'Put the orange build block on the right of the build block + + ' + subtask_index: 16 + - subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 17 + - subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 18 + - subtask: 'Put the red build block on the front of the yellow build block + + ' + subtask_index: 19 + - subtask: 'Put the orange build block on the front of the yellow build block + + ' + subtask_index: 20 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 21 + - subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 22 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 23 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 24 + - subtask: 'Put the orange build block on the left of the blue build block + + ' + subtask_index: 25 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 26 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 27 + - subtask: 'Put the red build block on the behind of the blue build block + + ' + subtask_index: 28 + - subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 29 + - subtask: 'Put the orange build block on the behind of the green build block + + ' + subtask_index: 30 + - subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 31 + - subtask: 'Put the yellow build block on the front of the orange build block + + ' + subtask_index: 32 + - subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 33 + - subtask: 'Put the blue build block on the right of the red build block + + ' + subtask_index: 34 + - subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 35 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 36 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 37 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 38 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 39 + - subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 40 + - subtask: 'Put theyellow build block on the behind of the blue build block + + ' + subtask_index: 41 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 42 + - subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 43 + - subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 44 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 45 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 46 + - subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 47 + - subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 48 + - subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 49 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 50 + - subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 51 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 52 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 53 + - subtask: 'Put the orange build block on the behind of the green build block + + ' + subtask_index: 54 + - subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 55 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 56 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 57 + - subtask: 'Put the yellow build block on the behind of the orange build block + + ' + subtask_index: 58 + - subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 59 + - subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 60 + - subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 61 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 62 + - subtask: 'Put the blue build block on the front of the orange build block + + ' + subtask_index: 63 + - subtask: 'Put the green build block on the behind of the red build block + + ' + subtask_index: 64 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 65 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 66 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 67 + - subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 68 + - subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 69 + - subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 70 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 71 + - subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 72 + - subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 73 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 74 + - subtask: 'Put the red build block on the blue build block + + ' + subtask_index: 75 + - subtask: 'Put the orange build block on the left of the yellow build block + + ' + subtask_index: 76 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 77 + - subtask: 'Put the red build block on the left of the orange build block + + ' + subtask_index: 78 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 79 + - subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 80 + - subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 81 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 82 + - subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 83 + - subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 84 + - subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 85 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 86 + - subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 87 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 88 + - subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 89 + - subtask: 'Put the red build block on the right of the green build block + + ' + subtask_index: 90 + - subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 91 + - subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 92 + - subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 93 + - subtask: 'Put the bluebuild block on the right of the yellow build block + + ' + subtask_index: 94 + - subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 95 + - subtask: 'Put the red build block on the blue build block + + ' + subtask_index: 96 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 97 + - subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 98 + - subtask: 'Put the yellow build block on the right of the red build block + + ' + subtask_index: 99 + - subtask: ' + + Put the yellow build block on the behind of the green build block + + ' + subtask_index: 100 + - subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 101 + - subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 102 + - subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 103 + - subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 104 + - subtask: 'Put the blue build block on the behind of the yellow build block + + ' + subtask_index: 105 + - subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 106 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 107 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 108 + - subtask: 'Put the red build block on the front of the blue build block + + ' + subtask_index: 109 + - subtask: 'Put the red build block on the behind of the green'' build block + + ' + subtask_index: 110 + - subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 111 + - subtask: 'Put the red build block on the left of the green build block + + ' + subtask_index: 112 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 113 + - subtask: 'Put blue the build block on the right of the red build block + + ' + subtask_index: 114 + - subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 115 + - subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 116 + - subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 117 + - subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 118 + - subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 119 + - subtask: ' + + Put the yellow build block in the center of the table' + subtask_index: 120 + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 121 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 122 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 123 + - subtask: 'Put the orange build block in the center of the table + + ' + subtask_index: 124 + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 125 + - subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 126 + - subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 127 + - subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 128 + - subtask: Put the green build block on the behind of the blue build block + subtask_index: 129 + - subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 130 + - subtask: 'Put the blue build block on the right of the green build block + + ' + subtask_index: 131 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 132 + - subtask: Put the green build block on the behind of the blue build block + subtask_index: 133 + - subtask: 'Put the green build block on the left of the orange build block + + ' + subtask_index: 134 + - subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 135 + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 136 + - subtask: 'Put the blue build block on the behind of the red build block + + ' + subtask_index: 137 + - subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 138 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 139 + - subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 140 + - subtask: 'Put the red build block on the front of the green build block + + ' + subtask_index: 141 + - subtask: 'Put the red build block on the left of the ornage build block + + ' + subtask_index: 142 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 143 + - subtask: 'Put the red build block on the right of the green build block + + ' + subtask_index: 144 + - subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 145 + - subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 146 + - subtask: Put the XX build block on the XX build block + subtask_index: 147 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 148 + - subtask: 'Put the orange build block on the green build block + + ' + subtask_index: 149 + - subtask: End + subtask_index: 150 + - subtask: 'Put the blue build block on the right of the red build block + + ' + subtask_index: 151 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 152 + - subtask: 'Put the greem build block on the behind of the blue build block + + ' + subtask_index: 153 + - subtask: 'Put the left build block on the left of the green build block + + ' + subtask_index: 154 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 155 + - subtask: 'Put the red build block on the left of the blue build block + + ' + subtask_index: 156 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 157 + - subtask: 'Put the yellow build block on the behind of the orange build block + + ' + subtask_index: 158 + - subtask: 'Put the green build block on the behind of the blue build block + + ' + subtask_index: 159 + - subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 160 + - subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 161 + - subtask: 'Put the red build block on the front of the green build block + + ' + subtask_index: 162 + - subtask: 'Put the red build block on the front of the yellow build block + + ' + subtask_index: 163 + - subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 164 + - subtask: 'Put the blue build block on the orange build block + + ' + subtask_index: 165 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 166 + - subtask: 'Put the orange build block on the front of the blue build block + + ' + subtask_index: 167 + - subtask: 'Put the blue build block on the right of the yellow build block + + ' + subtask_index: 168 + - subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 169 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 170 + - subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 171 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 172 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 173 + - subtask: Put the blue build block on the right of the yellow build block + subtask_index: 174 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 175 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 176 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 177 + - subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 178 + - subtask: 'Put the yellow build block in the center of the table + + ' + subtask_index: 179 + - subtask: Abnormal + subtask_index: 180 + - subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 181 + - subtask: 'Put the red build block on the yellow build block + + ' + subtask_index: 182 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 183 + - subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 184 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 185 + - subtask: 'Put the orange build block on the orange build block + + ' + subtask_index: 186 + - subtask: 'Put the blue build block on the behind of the red build block + + ' + subtask_index: 187 + - subtask: 'Put the yellow build block on the right of the blue build block + + ' + subtask_index: 188 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 189 + - subtask: 'Put the yellow build block on the left of the blue build block + + ' + subtask_index: 190 + - subtask: 'Put the yellow build block on the right of the orange build block + + ' + subtask_index: 191 + - subtask: 'Put the yellow build block on the blue build block + + ' + subtask_index: 192 + - subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 193 + - subtask: 'Put the green build block on the right of the blue build block + + ' + subtask_index: 194 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 195 + - subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 196 + - subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 197 + - subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 198 + - subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 199 + - subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 200 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 201 + - subtask: 'Put the green build block on the red build block + + ' + subtask_index: 202 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 203 + - subtask: 'Put the red build block on the behind of the orange build block + + ' + subtask_index: 204 + - subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 205 + - subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 206 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 207 + - subtask: 'Put the green build block on the front of the blue build block + + ' + subtask_index: 208 + - subtask: 'Put the yellow build block on the behind of the orange build block + + ' + subtask_index: 209 + - subtask: 'Put the yellow build block on the behind of the blue build block + + ' + subtask_index: 210 + - subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 211 + - subtask: Put the blue build block on the right of the yellow build block + subtask_index: 212 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 213 + - subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 214 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 215 + - subtask: 'Put the blue build block on the front of the green build block + + ' + subtask_index: 216 + - subtask: 'Put the yellow build block on the orange build block + + ' + subtask_index: 217 + - subtask: 'Put the yellow build block on the front of the red build block + + ' + subtask_index: 218 + - subtask: 'Put the orange build block on the behind of the red build block + + ' + subtask_index: 219 + - subtask: 'Put the yellow build block on the behind of the green build block + + ' + subtask_index: 220 + - subtask: 'Put the blue build block on the right of orange the build block + + ' + subtask_index: 221 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 222 + - subtask: 'Put the green build block on the behind of the orange build block + + ' + subtask_index: 223 + - subtask: 'Put the green build block on the behind of the yellow build block + + ' + subtask_index: 224 + - subtask: 'Put the yellow build block on the right of the green build block + + ' + subtask_index: 225 + - subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 226 + - subtask: 'Put the orange build block on the right of the yellow build block + + ' + subtask_index: 227 + - subtask: 'Put the red build block on the green build block + + ' + subtask_index: 228 + - subtask: 'Put the red build block on the right of the blue build block + + ' + subtask_index: 229 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 230 + - subtask: 'Put the orange build block on the right of the red build block + + ' + subtask_index: 231 + - subtask: 'Put the blue build block on the red build block + + ' + subtask_index: 232 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 233 + - subtask: 'Put the orange build block on the left of the yellow build block + + ' + subtask_index: 234 + - subtask: 'Put the right build block on the right of the yellow build block + + ' + subtask_index: 235 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 236 + - subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 237 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 238 + - subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 239 + - subtask: 'Put the orange build block on the right of the blue build block + + ' + subtask_index: 240 + - subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 241 + - subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 242 + - subtask: 'Put the ornage build block on the behind of the green build block + + ' + subtask_index: 243 + - subtask: 'Put the blue build block on the left of the yellow build block + + ' + subtask_index: 244 + - subtask: 'Put the green build block on the front of the blue build block + + ' + subtask_index: 245 + - subtask: 'Put the green build block on the behind of the red build block + + ' + subtask_index: 246 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 247 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 248 + - subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 249 + - subtask: 'Put the blue build block on the green build block + + ' + subtask_index: 250 + - subtask: Put the blue build block on the right of the orange build block + subtask_index: 251 + - subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 252 + - subtask: 'Put the orange build block on the behind of the yellow build block + + ' + subtask_index: 253 + - subtask: 'Put the green build block in the center of the table + + ' + subtask_index: 254 + - subtask: 'Put the blue build block on the behind of the orange build block + + ' + subtask_index: 255 + - subtask: Put the green build block on the left of the orange build block + subtask_index: 256 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 257 + - subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 258 + - subtask: 'Put the orange build block on the right of the green build block + + ' + subtask_index: 259 + - subtask: 'Put the green build block on the orange build block + + ' + subtask_index: 260 + - subtask: 'Put the blue build block on the behind of the green build block + + ' + subtask_index: 261 + - subtask: 'Put the yellow build block on the behind of the red build block + + ' + subtask_index: 262 + - subtask: 'Put the orange build block on the green build block + + ' + subtask_index: 263 + - subtask: 'Put the red build block on the behind of the blue build block + + ' + subtask_index: 264 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 265 + - subtask: move the build block to the center of the table + subtask_index: 266 + - subtask: 'Put the green build block on the right of the red build block + + ' + subtask_index: 267 + - subtask: 'Put the red build block on the behind of the green build block + + ' + subtask_index: 268 + - subtask: 'Put the red build block on the behind of the blue build block + + ' + subtask_index: 269 + - subtask: 'Put the yellow build block on the behind of the orange build block + + ' + subtask_index: 270 + - subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 271 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 272 + - subtask: 'Put the red build block on the right of the yellow build block + + ' + subtask_index: 273 + - subtask: 'Put the red build block in the center of the table + + ' + subtask_index: 274 + - subtask: Put the red build block on the right of the blue build block + subtask_index: 275 + - subtask: Put the yellow build block on the behind of the green build block + subtask_index: 276 + - subtask: 'Put the red build block on the right of the orange build block + + ' + subtask_index: 277 + - subtask: 'Put the blue build block on the right of the orange build block + + ' + subtask_index: 278 + - subtask: 'Put the orange build block on the behind of the green build block + + ' + subtask_index: 279 + - subtask: 'Put the blue build block on the front of the green build block + + ' + subtask_index: 280 + - subtask: 'Put the ornage build block on the behind of the blue build block + + ' + subtask_index: 281 + - subtask: 'Put the yellow build block on the behind of the orange build block + + ' + subtask_index: 282 + - subtask: 'Put the green build block on the behind of the blue build block + + ' + subtask_index: 283 + - subtask: 'Put the green build block on the left of the blue build block + + ' + subtask_index: 284 + - subtask: 'Put the blue build block in the center of the table + + ' + subtask_index: 285 + - subtask: 'Put the green build block on the right of the yellow build block + + ' + subtask_index: 286 + - subtask: Put the yellow build block on the behind of the blue build block + subtask_index: 287 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 288 + - subtask: 'Put the green build block on the blue build block + + ' + subtask_index: 289 + - subtask: 'Put the orange build block on the behind of the blue build block + + ' + subtask_index: 290 + - subtask: 'Put the red build block on the behind of the yellow build block + + ' + subtask_index: 291 + - subtask: 'Put the orange build block on the blue build block + + ' + subtask_index: 292 + - subtask: 'Put the green build block on the right of the orange build block + + ' + subtask_index: 293 + - subtask: 'Put the orange build block on the left of the red build block + + ' + subtask_index: 294 + - subtask: Put the green build block in the center of the table + subtask_index: 295 + - subtask: 'null' + subtask_index: 296 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 232528 + dataset_size: 2.20 GB + data_structure: 'Agilex_Cobot_Magic_connect_block_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (226 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_chest_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board.yaml index 6a2a7e544ba23eea2a4b3ffc46bb9b797d8587b1..0ec78d799fecd0e54c93e33cef1e6f3af18ce6de 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,42 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- wipe off the handwriting on the whiteboard. +task_result: 'null' +task_instruction: wipe off the handwriting on the whiteboard. sub_tasks: -- subtask: Place the eraser with the left gripper - subtask_index: 0 -- subtask: end - subtask_index: 1 -- subtask: Grasp the eraser with the left gripper - subtask_index: 2 -- subtask: Grasp the eraser and wipe the blackboard with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Grasp the eraser and wipe the blackboard with the left gripper - subtask_index: 5 -- subtask: Place the eraser with the right gripper - subtask_index: 6 -- subtask: Grasp the eraser with the right gripper - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- Place the eraser with the left gripper +- end +- Grasp the eraser with the left gripper +- Grasp the eraser and wipe the blackboard with the right gripper +- Abnormal +- Grasp the eraser and wipe the blackboard with the left gripper +- Place the eraser with the right gripper +- Grasp the eraser with the right gripper +- 'null' atomic_actions: - grasp - lift - lower - wipe -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +84,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 24688 fps: 30 @@ -206,9 +200,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -481,7 +477,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -489,6 +485,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -515,6 +512,212 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - wipe off the handwriting on the whiteboard. + sub_tasks: + - subtask: Place the eraser with the left gripper + subtask_index: 0 + - subtask: end + subtask_index: 1 + - subtask: Grasp the eraser with the left gripper + subtask_index: 2 + - subtask: Grasp the eraser and wipe the blackboard with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Grasp the eraser and wipe the blackboard with the left gripper + subtask_index: 5 + - subtask: Place the eraser with the right gripper + subtask_index: 6 + - subtask: Grasp the eraser with the right gripper + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - lift + - lower + - wipe + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 24688 + dataset_size: 230.75 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml index e71a65fff30b2f61d33e4a1557516e150084ad2d..31c07db9ce435b242a3961ebb17233d6bdaf94ab 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left claw to pick up the whiteboard eraser, wipe the notes on the whiteboard - clean, and then put them back in place. +task_result: 'null' +task_instruction: use the left claw to pick up the whiteboard eraser, wipe the notes + on the whiteboard clean, and then put them back in place. sub_tasks: -- subtask: Place the eraser with the left gripper - subtask_index: 0 -- subtask: Grasp the eraser with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Grasp the eraser and wipe the blackboard with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the eraser with the left gripper +- Grasp the eraser with the left gripper +- Abnormal +- End +- Grasp the eraser and wipe the blackboard with the left gripper +- 'null' atomic_actions: - grasp - lift - wipe - handover -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +82,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +96,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 23847 fps: 30 @@ -201,9 +198,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_left_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -476,7 +475,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -484,6 +483,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -510,6 +510,207 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left claw to pick up the whiteboard eraser, wipe the notes on the whiteboard + clean, and then put them back in place. + sub_tasks: + - subtask: Place the eraser with the left gripper + subtask_index: 0 + - subtask: Grasp the eraser with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Grasp the eraser and wipe the blackboard with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - wipe + - handover + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 23847 + dataset_size: 217.68 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml index aa8137401e836bee4a5f9aa8eb0467821ef1eee3..5c0fb4d8330d03578f4e8b4c061fb206154de942 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_left_side.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,40 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- wipe off the handwriting on the whiteboard. +task_result: 'null' +task_instruction: wipe off the handwriting on the whiteboard. sub_tasks: -- subtask: Place the eraser with the left gripper - subtask_index: 0 -- subtask: Grasp the eraser with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the eraser and wipe the blackboard with the right gripper - subtask_index: 3 -- subtask: Place the eraser with the right gripper - subtask_index: 4 -- subtask: Grasp the eraser with the right gripper - subtask_index: 5 -- subtask: Grasp the eraser and wipe the blackboard with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the eraser with the left gripper +- Grasp the eraser with the left gripper +- End +- Grasp the eraser and wipe the blackboard with the right gripper +- Place the eraser with the right gripper +- Grasp the eraser with the right gripper +- Grasp the eraser and wipe the blackboard with the left gripper +- 'null' atomic_actions: - grasp - lift - lower - wipe -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +83,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 101 total_frames: 51478 fps: 30 @@ -204,9 +199,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:100 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -479,7 +476,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -487,6 +484,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -513,6 +511,210 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board_left_side + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - wipe off the handwriting on the whiteboard. + sub_tasks: + - subtask: Place the eraser with the left gripper + subtask_index: 0 + - subtask: Grasp the eraser with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the eraser and wipe the blackboard with the right gripper + subtask_index: 3 + - subtask: Place the eraser with the right gripper + subtask_index: 4 + - subtask: Grasp the eraser with the right gripper + subtask_index: 5 + - subtask: Grasp the eraser and wipe the blackboard with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - lift + - lower + - wipe + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 51478 + dataset_size: 490.77 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml index e68b575fddb2572afdf27d6c7942de8ea85fc2eb..ed1d6f3230239e3aeecc87e23605e689df8cdd22 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_left_to_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,45 +51,35 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to place the eraser in the right, use the right gripper to - pick up the eraser, wipe the notes on the whiteboard clean, and then put it down. +task_result: 'null' +task_instruction: use the left gripper to place the eraser in the right, use the right + gripper to pick up the eraser, wipe the notes on the whiteboard clean, and then + put it down. sub_tasks: -- subtask: Right gripper - subtask_index: 0 -- subtask: Move the board eraser to the center of the whiteboard with left gripper - subtask_index: 1 -- subtask: Wipe off the writing on the board with right gripper - subtask_index: 2 -- subtask: Place the board eraser on the right side of board with right gripper - subtask_index: 3 -- subtask: Move the board eraser to the right of the whiteboard with right gripper - subtask_index: 4 -- subtask: Pick up the board eraser with right gripper - subtask_index: 5 -- subtask: Move the board eraser to the right of the whiteboard with left gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: Left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Right gripper +- Move the board eraser to the center of the whiteboard with left gripper +- Wipe off the writing on the board with right gripper +- Place the board eraser on the right side of board with right gripper +- Move the board eraser to the right of the whiteboard with right gripper +- Pick up the board eraser with right gripper +- Move the board eraser to the right of the whiteboard with left gripper +- End +- Left gripper +- 'null' atomic_actions: - grasp - lift - wipe - handover -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -97,10 +87,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -108,7 +101,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 38393 fps: 30 @@ -193,9 +187,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_passing_left_to_right_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -468,7 +464,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -476,6 +472,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -502,6 +499,199 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board_passing_left_to_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to place the eraser in the right, use the right gripper to + pick up the eraser, wipe the notes on the whiteboard clean, and then put it down. + sub_tasks: + - subtask: Right gripper + subtask_index: 0 + - subtask: Move the board eraser to the center of the whiteboard with left gripper + subtask_index: 1 + - subtask: Wipe off the writing on the board with right gripper + subtask_index: 2 + - subtask: Place the board eraser on the right side of board with right gripper + subtask_index: 3 + - subtask: Move the board eraser to the right of the whiteboard with right gripper + subtask_index: 4 + - subtask: Pick up the board eraser with right gripper + subtask_index: 5 + - subtask: Move the board eraser to the right of the whiteboard with left gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: Left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - lift + - wipe + - handover + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 38393 + dataset_size: 335.24 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_passing_left_to_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml index bfc54fe6cda8e0f195a35008d5ded269f01f38dc..b4852177d94573020834ad42ba5cbc6737437420 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_passing_right_to_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,39 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to place the eraser in the left, use the left gripper to pick - up the eraser, wipe the notes on the whiteboard clean, and then put it down. +task_result: 'null' +task_instruction: use the right gripper to place the eraser in the left, use the left + gripper to pick up the eraser, wipe the notes on the whiteboard clean, and then + put it down. sub_tasks: -- subtask: Place the eraser with the left gripper - subtask_index: 0 -- subtask: Grasp the eraser with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Move the eraser to the left side of the blackboard with the right gripper - subtask_index: 4 -- subtask: Grasp the eraser and wipe the blackboard with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the eraser with the left gripper +- Grasp the eraser with the left gripper +- Abnormal +- End +- Move the eraser to the left side of the blackboard with the right gripper +- Grasp the eraser and wipe the blackboard with the left gripper +- 'null' atomic_actions: - grasp - lift - wipe - handover -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +84,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 38184 fps: 30 @@ -187,9 +184,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_passing_right_to_left_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -462,7 +461,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -470,6 +469,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -496,6 +496,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board_passing_right_to_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to place the eraser in the left, use the left gripper to + pick up the eraser, wipe the notes on the whiteboard clean, and then put it down. + sub_tasks: + - subtask: Place the eraser with the left gripper + subtask_index: 0 + - subtask: Grasp the eraser with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Move the eraser to the left side of the blackboard with the right gripper + subtask_index: 4 + - subtask: Grasp the eraser and wipe the blackboard with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - wipe + - handover + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 38184 + dataset_size: 334.71 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_passing_right_to_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml index 5b954e3578e5d9de17268d29ff3c79e566c595fe..a476c395bb9e17bf0be033230979bcaea1aa7ca2 100644 --- a/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the board eraser, wipe the notes on the whiteboard - clean, and then put them back in place. +task_result: 'null' +task_instruction: use the right gripper to pick up the board eraser, wipe the notes + on the whiteboard clean, and then put them back in place. sub_tasks: -- subtask: Right gripper - subtask_index: 0 -- subtask: Wipe off the writing on the board with right gripper - subtask_index: 1 -- subtask: Place the board eraser on the right side of board with right gripper - subtask_index: 2 -- subtask: Move the board eraser to the right of the whiteboard with right gripper - subtask_index: 3 -- subtask: Pick up the board eraser with right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Right gripper +- Wipe off the writing on the board with right gripper +- Place the board eraser on the right side of board with right gripper +- Move the board eraser to the right of the whiteboard with right gripper +- Pick up the board eraser with right gripper +- End +- 'null' atomic_actions: - grasp - lift - wipe - handover -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +83,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 28998 fps: 30 @@ -187,9 +183,11 @@ data_structure: 'Agilex_Cobot_Magic_erase_board_right_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -462,7 +460,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -470,6 +468,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -496,6 +495,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_erase_board_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the board eraser, wipe the notes on the whiteboard + clean, and then put them back in place. + sub_tasks: + - subtask: Right gripper + subtask_index: 0 + - subtask: Wipe off the writing on the board with right gripper + subtask_index: 1 + - subtask: Place the board eraser on the right side of board with right gripper + subtask_index: 2 + - subtask: Move the board eraser to the right of the whiteboard with right gripper + subtask_index: 3 + - subtask: Pick up the board eraser with right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - wipe + - handover + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 28998 + dataset_size: 249.99 MB + data_structure: 'Agilex_Cobot_Magic_erase_board_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml index 137da5beefbc2fde9178f44bcb8ce6fe4948ef19..a96ef79dfe6a2a3530bfdb09a7f85f99b6dc15b3 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,44 +51,34 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Fold the children's denim shorts in half with two grippers, then fold them in half - again, and use the left claw to place the folded children's denim shorts on the - tray. +task_result: 'null' +task_instruction: Fold the children's denim shorts in half with two grippers, then + fold them in half again, and use the left claw to place the folded children's denim + shorts on the tray. sub_tasks: -- subtask: Grasp the blue trousers with the right gripper - subtask_index: 0 -- subtask: Fold the blue trousers upwards with the right gripper - subtask_index: 1 -- subtask: Fold the blue trousers from right to left with the right gripper - subtask_index: 2 -- subtask: Place the folded blue trousers on the green tray with the left gripper - subtask_index: 3 -- subtask: Grasp the blue trousers with the left gripper - subtask_index: 4 -- subtask: Fold the blue trousers upwards with the left gripper - subtask_index: 5 -- subtask: Fold the blue trousers from left to right with the left gripper - subtask_index: 6 -- subtask: end - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- Grasp the blue trousers with the right gripper +- Fold the blue trousers upwards with the right gripper +- Fold the blue trousers from right to left with the right gripper +- Place the folded blue trousers on the green tray with the left gripper +- Grasp the blue trousers with the left gripper +- Fold the blue trousers upwards with the left gripper +- Fold the blue trousers from left to right with the left gripper +- end +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -96,10 +86,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -107,7 +100,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 60562 fps: 30 @@ -208,9 +202,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_jeans_shorts_children_s_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -483,7 +479,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -491,6 +487,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -517,6 +514,214 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_jeans_shorts_children's + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Fold the children's denim shorts in half with two grippers, then fold them in + half again, and use the left claw to place the folded children's denim shorts + on the tray. + sub_tasks: + - subtask: Grasp the blue trousers with the right gripper + subtask_index: 0 + - subtask: Fold the blue trousers upwards with the right gripper + subtask_index: 1 + - subtask: Fold the blue trousers from right to left with the right gripper + subtask_index: 2 + - subtask: Place the folded blue trousers on the green tray with the left gripper + subtask_index: 3 + - subtask: Grasp the blue trousers with the left gripper + subtask_index: 4 + - subtask: Fold the blue trousers upwards with the left gripper + subtask_index: 5 + - subtask: Fold the blue trousers from left to right with the left gripper + subtask_index: 6 + - subtask: end + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 60562 + dataset_size: 912.51 MB + data_structure: 'Agilex_Cobot_Magic_fold_jeans_shorts_children_s_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml index b635ffd6ffb8e2080a8ca874bf214c2fdf8b3d5e..0162169e52e22c6fc19d94c6639af6764763e702 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_short_sleeve_black.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,49 +51,36 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use two grippers to fold the black short sleeve, and use the left claw to place - the folded black short sleeve on the tray. +task_result: 'null' +task_instruction: use two grippers to fold the black short sleeve, and use the left + claw to place the folded black short sleeve on the tray. sub_tasks: -- subtask: Lift the black T-shirt with the left gripper - subtask_index: 0 -- subtask: Lift the black T-shirt with the right gripper - subtask_index: 1 -- subtask: Grasp the black T-shirt with the left gripper - subtask_index: 2 -- subtask: Fold the black T-shirt downward with the right gripper - subtask_index: 3 -- subtask: Grasp the black T-shirt with the right gripper - subtask_index: 4 -- subtask: Fold the black T-shirt downward with the left gripper - subtask_index: 5 -- subtask: Fold the black T-shirt from right to left with right gripper - subtask_index: 6 -- subtask: abnormal - subtask_index: 7 -- subtask: end - subtask_index: 8 -- subtask: Fold the black T-shirt from left to right with left gripper - subtask_index: 9 -- subtask: Place the folded black T-shirt on the green tray with the left gripper - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Lift the black T-shirt with the left gripper +- Lift the black T-shirt with the right gripper +- Grasp the black T-shirt with the left gripper +- Fold the black T-shirt downward with the right gripper +- Grasp the black T-shirt with the right gripper +- Fold the black T-shirt downward with the left gripper +- Fold the black T-shirt from right to left with right gripper +- abnormal +- end +- Fold the black T-shirt from left to right with left gripper +- Place the folded black T-shirt on the green tray with the left gripper +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -101,10 +88,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -112,7 +102,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 76223 fps: 30 @@ -197,9 +188,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_short_sleeve_black_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -472,7 +465,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -480,6 +473,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -506,6 +500,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_short_sleeve_black + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use two grippers to fold the black short sleeve, and use the left claw to place + the folded black short sleeve on the tray. + sub_tasks: + - subtask: Lift the black T-shirt with the left gripper + subtask_index: 0 + - subtask: Lift the black T-shirt with the right gripper + subtask_index: 1 + - subtask: Grasp the black T-shirt with the left gripper + subtask_index: 2 + - subtask: Fold the black T-shirt downward with the right gripper + subtask_index: 3 + - subtask: Grasp the black T-shirt with the right gripper + subtask_index: 4 + - subtask: Fold the black T-shirt downward with the left gripper + subtask_index: 5 + - subtask: Fold the black T-shirt from right to left with right gripper + subtask_index: 6 + - subtask: abnormal + subtask_index: 7 + - subtask: end + subtask_index: 8 + - subtask: Fold the black T-shirt from left to right with left gripper + subtask_index: 9 + - subtask: Place the folded black T-shirt on the green tray with the left gripper + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 76223 + dataset_size: 999.69 MB + data_structure: 'Agilex_Cobot_Magic_fold_short_sleeve_black_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml b/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml index 3c4f3ee7c763a0d1581bfce04b293cc210664203..28638b2dfd7e8a5bbecc76ed3c2351af273930ef 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_shorts_khaki.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,43 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- fold the khaki jeans in half with two grippers, then fold them in half again, and - use the left claw to place the folded fold khaki jeans on the tray. +task_result: 'null' +task_instruction: fold the khaki jeans in half with two grippers, then fold them in + half again, and use the left claw to place the folded fold khaki jeans on the tray. sub_tasks: -- subtask: Fold the khaki trousers from right to left with the right gripper - subtask_index: 0 -- subtask: Fold the khaki trousers upwards with the right gripper - subtask_index: 1 -- subtask: Fold the khaki trousers from left to right with the left gripper - subtask_index: 2 -- subtask: Fold the khaki trousers upwards with the left gripper - subtask_index: 3 -- subtask: Place the folded khaki trousers on the green tray with the left gripper - subtask_index: 4 -- subtask: Grasp the khaki trousers with the left gripper - subtask_index: 5 -- subtask: Grasp the khaki trousers with the right gripper - subtask_index: 6 -- subtask: end - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- Fold the khaki trousers from right to left with the right gripper +- Fold the khaki trousers upwards with the right gripper +- Fold the khaki trousers from left to right with the left gripper +- Fold the khaki trousers upwards with the left gripper +- Place the folded khaki trousers on the green tray with the left gripper +- Grasp the khaki trousers with the left gripper +- Grasp the khaki trousers with the right gripper +- end +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -95,10 +85,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 55392 fps: 30 @@ -191,9 +185,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_shorts_khaki_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -466,7 +462,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -474,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -500,6 +497,197 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_shorts_khaki + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - fold the khaki jeans in half with two grippers, then fold them in half again, + and use the left claw to place the folded fold khaki jeans on the tray. + sub_tasks: + - subtask: Fold the khaki trousers from right to left with the right gripper + subtask_index: 0 + - subtask: Fold the khaki trousers upwards with the right gripper + subtask_index: 1 + - subtask: Fold the khaki trousers from left to right with the left gripper + subtask_index: 2 + - subtask: Fold the khaki trousers upwards with the left gripper + subtask_index: 3 + - subtask: Place the folded khaki trousers on the green tray with the left gripper + subtask_index: 4 + - subtask: Grasp the khaki trousers with the left gripper + subtask_index: 5 + - subtask: Grasp the khaki trousers with the right gripper + subtask_index: 6 + - subtask: end + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 55392 + dataset_size: 637.64 MB + data_structure: 'Agilex_Cobot_Magic_fold_shorts_khaki_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml index 7cf3be0f430da9a9153fd35707fe08a9cdba8a9d..aa578650c8a573978c854cf1658bb9fb8069f939 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,54 +51,38 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- fold the towels on the table. +task_result: 'null' +task_instruction: fold the towels on the table. sub_tasks: -- subtask: Fold the white towel upwards with the right gripper - subtask_index: 0 -- subtask: Grasp the orange towel with the left gripper - subtask_index: 1 -- subtask: Grasp the orange towel with the right gripper - subtask_index: 2 -- subtask: Fold the orange towel upwards with the right gripper - subtask_index: 3 -- subtask: Fold the white towel upwards with the left gripper - subtask_index: 4 -- subtask: Fold the orange towel from right to left with right gripper - subtask_index: 5 -- subtask: Press on the orange towel with the left gripper - subtask_index: 6 -- subtask: Fold the white towel from right to left with right gripper - subtask_index: 7 -- subtask: End - subtask_index: 8 -- subtask: Arrange the orange towel with the right hand - subtask_index: 9 -- subtask: Grasp the white towel with the right gripper - subtask_index: 10 -- subtask: Fold the orange towel upwards with the left gripper - subtask_index: 11 -- subtask: Grasp the white towel with the left gripper - subtask_index: 12 -- subtask: Press on the white towel with the left gripper - subtask_index: 13 -- subtask: 'null' - subtask_index: 14 +- Fold the white towel upwards with the right gripper +- Grasp the orange towel with the left gripper +- Grasp the orange towel with the right gripper +- Fold the orange towel upwards with the right gripper +- Fold the white towel upwards with the left gripper +- Fold the orange towel from right to left with right gripper +- Press on the orange towel with the left gripper +- Fold the white towel from right to left with right gripper +- End +- Arrange the orange towel with the right hand +- Grasp the white towel with the right gripper +- Fold the orange towel upwards with the left gripper +- Grasp the white towel with the left gripper +- Press on the white towel with the left gripper +- 'null' atomic_actions: - grasp - fold - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -106,10 +90,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -117,7 +104,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 76161 fps: 30 @@ -202,9 +190,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_towel_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -477,7 +467,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -485,6 +475,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -511,6 +502,208 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_towel + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - fold the towels on the table. + sub_tasks: + - subtask: Fold the white towel upwards with the right gripper + subtask_index: 0 + - subtask: Grasp the orange towel with the left gripper + subtask_index: 1 + - subtask: Grasp the orange towel with the right gripper + subtask_index: 2 + - subtask: Fold the orange towel upwards with the right gripper + subtask_index: 3 + - subtask: Fold the white towel upwards with the left gripper + subtask_index: 4 + - subtask: Fold the orange towel from right to left with right gripper + subtask_index: 5 + - subtask: Press on the orange towel with the left gripper + subtask_index: 6 + - subtask: Fold the white towel from right to left with right gripper + subtask_index: 7 + - subtask: End + subtask_index: 8 + - subtask: Arrange the orange towel with the right hand + subtask_index: 9 + - subtask: Grasp the white towel with the right gripper + subtask_index: 10 + - subtask: Fold the orange towel upwards with the left gripper + subtask_index: 11 + - subtask: Grasp the white towel with the left gripper + subtask_index: 12 + - subtask: Press on the white towel with the left gripper + subtask_index: 13 + - subtask: 'null' + subtask_index: 14 + atomic_actions: + - grasp + - fold + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 76161 + dataset_size: 834.61 MB + data_structure: 'Agilex_Cobot_Magic_fold_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml index cb920075d58c3a59cd4f4508ade09b8fc787e36c..06322f56b216b626262347a096be16fd893bcf41 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,42 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use both grippers to hold the edge of the towel and fold it forward.,use the right - gripper to hold the right edge and fold it again,use a gripper to place the folded - towel on the tray. +task_result: 'null' +task_instruction: use both grippers to hold the edge of the towel and fold it forward.,use + the right gripper to hold the right edge and fold it again,use a gripper to place + the folded towel on the tray. sub_tasks: -- subtask: Fold the blue white towel upwards with the right gripper - subtask_index: 0 -- subtask: Fold the blue white towel upwards with the left gripper - subtask_index: 1 -- subtask: Grasp the blue white towel with the right gripper - subtask_index: 2 -- subtask: Fold the blue white towel from right to left with right gripper - subtask_index: 3 -- subtask: Grasp the blue white towel with the left gripper - subtask_index: 4 -- subtask: end - subtask_index: 5 -- subtask: Place the folded gray towel on the green tray with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Fold the blue white towel upwards with the right gripper +- Fold the blue white towel upwards with the left gripper +- Grasp the blue white towel with the right gripper +- Fold the blue white towel from right to left with right gripper +- Grasp the blue white towel with the left gripper +- end +- Place the folded gray towel on the green tray with the right gripper +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +85,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 63491 fps: 30 @@ -190,9 +185,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_towel_blue_tray_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -465,7 +462,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -473,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -499,6 +497,196 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_towel_blue_tray + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. + sub_tasks: + - subtask: Fold the blue white towel upwards with the right gripper + subtask_index: 0 + - subtask: Fold the blue white towel upwards with the left gripper + subtask_index: 1 + - subtask: Grasp the blue white towel with the right gripper + subtask_index: 2 + - subtask: Fold the blue white towel from right to left with right gripper + subtask_index: 3 + - subtask: Grasp the blue white towel with the left gripper + subtask_index: 4 + - subtask: end + subtask_index: 5 + - subtask: Place the folded gray towel on the green tray with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 63491 + dataset_size: 935.31 MB + data_structure: 'Agilex_Cobot_Magic_fold_towel_blue_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml index 6cdab5e056a6667503f191f7fd91dc04cc548eae..ebde96dc45e70ea324836714a681f17322309a92 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_grey_tray.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,42 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use both grippers to hold the edge of the towel and fold it forward.,use the right - gripper to hold the right edge and fold it again,use a gripper to place the folded - towel on the tray. +task_result: 'null' +task_instruction: use both grippers to hold the edge of the towel and fold it forward.,use + the right gripper to hold the right edge and fold it again,use a gripper to place + the folded towel on the tray. sub_tasks: -- subtask: Fold the grey towel from left to right with left gripper - subtask_index: 0 -- subtask: Place the folded grey towel on the tray with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Fold the grey towel from right to left with right gripper - subtask_index: 3 -- subtask: Fold the grey towel upwards - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Place the folded grey towel on the tray with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Fold the grey towel from left to right with left gripper +- Place the folded grey towel on the tray with the right gripper +- Abnormal +- Fold the grey towel from right to left with right gripper +- Fold the grey towel upwards +- End +- Place the folded grey towel on the tray with the left gripper +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +85,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 53308 fps: 30 @@ -190,9 +185,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_towel_grey_tray_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -465,7 +462,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -473,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -499,6 +497,196 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_towel_grey_tray + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. + sub_tasks: + - subtask: Fold the grey towel from left to right with left gripper + subtask_index: 0 + - subtask: Place the folded grey towel on the tray with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Fold the grey towel from right to left with right gripper + subtask_index: 3 + - subtask: Fold the grey towel upwards + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Place the folded grey towel on the tray with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 53308 + dataset_size: 724.56 MB + data_structure: 'Agilex_Cobot_Magic_fold_towel_grey_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml index 71b82f366b8dbaab2826f59e0e56ba87da44bc9c..f12f1fba72ce5580ab33178caafe7ebf02766608 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use both grippers to hold the edge of the towel and fold it forward.,use the right - gripper to hold the right edge and fold it again,use a gripper to place the folded - towel on the tray. +task_result: 'null' +task_instruction: use both grippers to hold the edge of the towel and fold it forward.,use + the right gripper to hold the right edge and fold it again,use a gripper to place + the folded towel on the tray. sub_tasks: -- subtask: Fold the pink towel upwards - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the folded pink towel on the tray with the left gripper - subtask_index: 2 -- subtask: Fold the pink towel from right to left with right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Fold the pink towel upwards +- End +- Place the folded pink towel on the tray with the left gripper +- Fold the pink towel from right to left with right gripper +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +82,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +96,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 63678 fps: 30 @@ -184,9 +182,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_towel_pink_tray_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -459,7 +459,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -467,6 +467,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -493,6 +494,190 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_towel_pink_tray + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. + sub_tasks: + - subtask: Fold the pink towel upwards + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the folded pink towel on the tray with the left gripper + subtask_index: 2 + - subtask: Fold the pink towel from right to left with right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 63678 + dataset_size: 766.05 MB + data_structure: 'Agilex_Cobot_Magic_fold_towel_pink_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml index 1e45819db888a7203a2f4b62063661de2917f5ac..0c9160cb094c2c59f5ceb9aa097b685b29da6934 100644 --- a/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_yellow_tray.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,42 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use both grippers to hold the edge of the towel and fold it forward.,use the right - gripper to hold the right edge and fold it again,use a gripper to place the folded - towel on the tray. +task_result: 'null' +task_instruction: use both grippers to hold the edge of the towel and fold it forward.,use + the right gripper to hold the right edge and fold it again,use a gripper to place + the folded towel on the tray. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Fold the yellow towel upwards - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Fold the yellow towel from right to left with right gripper - subtask_index: 3 -- subtask: Fold the yellow towel from left to right with left gripper - subtask_index: 4 -- subtask: Place the folded yellow towel on the tray with the left gripper - subtask_index: 5 -- subtask: Place the folded yellow towel on the tray with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Abnormal +- Fold the yellow towel upwards +- End +- Fold the yellow towel from right to left with right gripper +- Fold the yellow towel from left to right with left gripper +- Place the folded yellow towel on the tray with the left gripper +- Place the folded yellow towel on the tray with the right gripper +- 'null' atomic_actions: - grasp - lift - lower - fold -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +85,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 48960 fps: 30 @@ -190,9 +185,11 @@ data_structure: 'Agilex_Cobot_Magic_fold_towel_yellow_tray_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -465,7 +462,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -473,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -499,6 +497,196 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_fold_towel_yellow_tray + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Fold the yellow towel upwards + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Fold the yellow towel from right to left with right gripper + subtask_index: 3 + - subtask: Fold the yellow towel from left to right with left gripper + subtask_index: 4 + - subtask: Place the folded yellow towel on the tray with the left gripper + subtask_index: 5 + - subtask: Place the folded yellow towel on the tray with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - lift + - lower + - fold + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 48960 + dataset_size: 552.42 MB + data_structure: 'Agilex_Cobot_Magic_fold_towel_yellow_tray_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml index a573e62356f2c48e8d393304aa10ffd593467b0e..7d66481e26b255efb4aaf6fed6702caf73310d50 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: mouse level1: appliances level2: mouse @@ -51,37 +51,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the right gripper organize the mouse on the mouse pad. +task_result: 'null' +task_instruction: the right gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Grasp the mouse with the left gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Grasp the mouse with the right gripper - subtask_index: 2 -- subtask: Place the mouse on the mouse mat with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the mouse on the mouse mat with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the mouse with the left gripper +- Abnormal +- Grasp the mouse with the right gripper +- Place the mouse on the mouse mat with the right gripper +- End +- Place the mouse on the mouse mat with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +81,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 112 total_frames: 49737 fps: 30 @@ -201,9 +197,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:111 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -476,7 +474,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -484,6 +482,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -510,6 +509,207 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the right gripper organize the mouse on the mouse pad. + sub_tasks: + - subtask: Grasp the mouse with the left gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Grasp the mouse with the right gripper + subtask_index: 2 + - subtask: Place the mouse on the mouse mat with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the mouse on the mouse mat with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 49737 + dataset_size: 386.89 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (100 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml index 7a6cd81ef1baad6d007a2b71664d31ef490e121c..6ebeeb151f2f2d3edd42813a37cee5c326d15d45 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -69,44 +69,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper organize the pen on the notebook then the right gripper organize - the mouse on the mouse pad. +task_result: 'null' +task_instruction: the left gripper organize the pen on the notebook then the right + gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Grasp the mouse with the left gripper - subtask_index: 0 -- subtask: Grasp the marker with the left gripper - subtask_index: 1 -- subtask: Grasp the mouse with the right gripper - subtask_index: 2 -- subtask: Place the mouse on the mouse pad with the right gripper - subtask_index: 3 -- subtask: Place the marker on the notebook with the right gripper - subtask_index: 4 -- subtask: Grasp the marker with the right gripper - subtask_index: 5 -- subtask: end - subtask_index: 6 -- subtask: Place the mouse on the mouse pad with the left gripper - subtask_index: 7 -- subtask: Place the marker on the notebook with the left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Grasp the mouse with the left gripper +- Grasp the marker with the left gripper +- Grasp the mouse with the right gripper +- Place the mouse on the mouse pad with the right gripper +- Place the marker on the notebook with the right gripper +- Grasp the marker with the right gripper +- end +- Place the mouse on the mouse pad with the left gripper +- Place the marker on the notebook with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -114,10 +103,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -125,7 +117,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 22756 fps: 30 @@ -210,9 +203,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -485,7 +480,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -493,6 +488,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -519,6 +515,198 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse_pen + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. + sub_tasks: + - subtask: Grasp the mouse with the left gripper + subtask_index: 0 + - subtask: Grasp the marker with the left gripper + subtask_index: 1 + - subtask: Grasp the mouse with the right gripper + subtask_index: 2 + - subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 + - subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 + - subtask: Grasp the marker with the right gripper + subtask_index: 5 + - subtask: end + subtask_index: 6 + - subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 7 + - subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 22756 + dataset_size: 276.67 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml index 1a88cf564ac93544a4575d364f68967e03c472c3..b9d9e6ef740b4da30956265fd7427336aceedf07 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -69,48 +69,35 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper organize the pen on the notebook then the right gripper organize - the mouse on the mouse pad. +task_result: 'null' +task_instruction: the left gripper organize the pen on the notebook then the right + gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Right gripper - subtask_index: 0 -- subtask: Pick up the mouse with right gripper - subtask_index: 1 -- subtask: Pick up the marker pen with right gripper - subtask_index: 2 -- subtask: Pick up the mouse with left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the marker pen on the notebook with right gripper - subtask_index: 5 -- subtask: Place the mouse on the mouse pad with left gripper - subtask_index: 6 -- subtask: Place the marker pen on the notebook with left gripper - subtask_index: 7 -- subtask: Left gripper - subtask_index: 8 -- subtask: Pick up the marker pen with left gripper - subtask_index: 9 -- subtask: Place the mouse on the mouse pad with right gripper - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Right gripper +- Pick up the mouse with right gripper +- Pick up the marker pen with right gripper +- Pick up the mouse with left gripper +- End +- Place the marker pen on the notebook with right gripper +- Place the mouse on the mouse pad with left gripper +- Place the marker pen on the notebook with left gripper +- Left gripper +- Pick up the marker pen with left gripper +- Place the mouse on the mouse pad with right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -118,10 +105,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -129,7 +119,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 20668 fps: 30 @@ -214,9 +205,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlin |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -489,7 +482,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -497,6 +490,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -523,6 +517,202 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. + sub_tasks: + - subtask: Right gripper + subtask_index: 0 + - subtask: Pick up the mouse with right gripper + subtask_index: 1 + - subtask: Pick up the marker pen with right gripper + subtask_index: 2 + - subtask: Pick up the mouse with left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the marker pen on the notebook with right gripper + subtask_index: 5 + - subtask: Place the mouse on the mouse pad with left gripper + subtask_index: 6 + - subtask: Place the marker pen on the notebook with left gripper + subtask_index: 7 + - subtask: Left gripper + subtask_index: 8 + - subtask: Pick up the marker pen with left gripper + subtask_index: 9 + - subtask: Place the mouse on the mouse pad with right gripper + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 20668 + dataset_size: 513.70 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml index 8bf79911b5b657e3070779c0f6f41c42c51dd76f..465f78c1de2f642e965ea4dc15ab6ae09f67d939 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -69,44 +69,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper organize the pen on the notebook then the right gripper organize - the mouse on the mouse pad. +task_result: 'null' +task_instruction: the left gripper organize the pen on the notebook then the right + gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Place the mouse on the mouse pad with the left gripper - subtask_index: 0 -- subtask: Grasp the marker with the left gripper - subtask_index: 1 -- subtask: Grasp the mouse with the right gripper - subtask_index: 2 -- subtask: Place the mouse on the mouse pad with the right gripper - subtask_index: 3 -- subtask: Place the marker on the notebook with the right gripper - subtask_index: 4 -- subtask: Grasp the marker with the right gripper - subtask_index: 5 -- subtask: Grasp the mouse with the left gripper - subtask_index: 6 -- subtask: end - subtask_index: 7 -- subtask: Place the marker on the notebook with the left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Place the mouse on the mouse pad with the left gripper +- Grasp the marker with the left gripper +- Grasp the mouse with the right gripper +- Place the mouse on the mouse pad with the right gripper +- Place the marker on the notebook with the right gripper +- Grasp the marker with the right gripper +- Grasp the mouse with the left gripper +- end +- Place the marker on the notebook with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -114,10 +103,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -125,7 +117,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 19527 fps: 30 @@ -210,9 +203,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth_qced_hardlin |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -485,7 +480,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -493,6 +488,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -519,6 +515,198 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. + sub_tasks: + - subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 0 + - subtask: Grasp the marker with the left gripper + subtask_index: 1 + - subtask: Grasp the mouse with the right gripper + subtask_index: 2 + - subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 + - subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 + - subtask: Grasp the marker with the right gripper + subtask_index: 5 + - subtask: Grasp the mouse with the left gripper + subtask_index: 6 + - subtask: end + subtask_index: 7 + - subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 19527 + dataset_size: 316.01 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml index 07082179fa25b15a774a79e508593aeb640ca02b..9e5f066787f75a4b0cc46453ed8ef90b809aeed2 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -66,44 +66,33 @@ objects: level2: khaki_table_cloths task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper organize the pen on the notebook then the right gripper organize - the mouse on the mouse pad. +task_result: 'null' +task_instruction: the left gripper organize the pen on the notebook then the right + gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Grasp the mouse with the left gripper - subtask_index: 0 -- subtask: Grasp the marker with the left gripper - subtask_index: 1 -- subtask: Grasp the mouse with the right gripper - subtask_index: 2 -- subtask: Place the mouse on the mouse pad with the right gripper - subtask_index: 3 -- subtask: Place the marker on the notebook with the right gripper - subtask_index: 4 -- subtask: Grasp the marker with the right gripper - subtask_index: 5 -- subtask: end - subtask_index: 6 -- subtask: Place the mouse on the mouse pad with the left gripper - subtask_index: 7 -- subtask: Place the marker on the notebook with the left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Grasp the mouse with the left gripper +- Grasp the marker with the left gripper +- Grasp the mouse with the right gripper +- Place the mouse on the mouse pad with the right gripper +- Place the marker on the notebook with the right gripper +- Grasp the marker with the right gripper +- end +- Place the mouse on the mouse pad with the left gripper +- Place the marker on the notebook with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -111,10 +100,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -122,7 +114,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 20954 fps: 30 @@ -207,9 +200,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth_qced_hardlin |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -482,7 +477,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -490,6 +485,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -516,6 +512,198 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. + sub_tasks: + - subtask: Grasp the mouse with the left gripper + subtask_index: 0 + - subtask: Grasp the marker with the left gripper + subtask_index: 1 + - subtask: Grasp the mouse with the right gripper + subtask_index: 2 + - subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 + - subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 + - subtask: Grasp the marker with the right gripper + subtask_index: 5 + - subtask: end + subtask_index: 6 + - subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 7 + - subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 20954 + dataset_size: 347.28 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml index d14ab98ed8903db06536729f0300b9ad7ac5d82e..e5082274933aebee9f931f834c440b6884d82dfa 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -69,48 +69,35 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper organize the pen on the notebook then the right gripper organize - the mouse on the mouse pad. +task_result: 'null' +task_instruction: the left gripper organize the pen on the notebook then the right + gripper organize the mouse on the mouse pad. sub_tasks: -- subtask: Right gripper - subtask_index: 0 -- subtask: Pick up the mouse with right gripper - subtask_index: 1 -- subtask: Pick up the marker pen with right gripper - subtask_index: 2 -- subtask: Pick up the mouse with left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the marker pen on the notebook with right gripper - subtask_index: 5 -- subtask: Place the mouse on the mouse pad with left gripper - subtask_index: 6 -- subtask: Place the marker pen on the notebook with left gripper - subtask_index: 7 -- subtask: Left gripper - subtask_index: 8 -- subtask: Pick up the marker pen with left gripper - subtask_index: 9 -- subtask: Place the mouse on the mouse pad with right gripper - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Right gripper +- Pick up the mouse with right gripper +- Pick up the marker pen with right gripper +- Pick up the mouse with left gripper +- End +- Place the marker pen on the notebook with right gripper +- Place the mouse on the mouse pad with left gripper +- Place the marker pen on the notebook with left gripper +- Left gripper +- Pick up the marker pen with left gripper +- Place the mouse on the mouse pad with right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -118,10 +105,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -129,7 +119,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 20689 fps: 30 @@ -214,9 +205,11 @@ data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -489,7 +482,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -497,6 +490,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -523,6 +517,202 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. + sub_tasks: + - subtask: Right gripper + subtask_index: 0 + - subtask: Pick up the mouse with right gripper + subtask_index: 1 + - subtask: Pick up the marker pen with right gripper + subtask_index: 2 + - subtask: Pick up the mouse with left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the marker pen on the notebook with right gripper + subtask_index: 5 + - subtask: Place the mouse on the mouse pad with left gripper + subtask_index: 6 + - subtask: Place the marker pen on the notebook with left gripper + subtask_index: 7 + - subtask: Left gripper + subtask_index: 8 + - subtask: Pick up the marker pen with left gripper + subtask_index: 9 + - subtask: Place the mouse on the mouse pad with right gripper + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 20689 + dataset_size: 664.79 MB + data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml index 9a6cd5b998c9db6e233f7ae590375237589e6f94..460ff2f03a8edd5e3ab4ee5a1f16cb790e3fc2a3 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_object_beige_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -213,35 +213,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the gripper move the object. +task_result: 'null' +task_instruction: the gripper move the object. sub_tasks: -- subtask: Grasp the XX with the right gripper - subtask_index: 0 -- subtask: Place the XX on the table with the left gripper - subtask_index: 1 -- subtask: Place the XX on the table with the right gripper - subtask_index: 2 -- subtask: Grasp the XX with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the XX with the right gripper +- Place the XX on the table with the left gripper +- Place the XX on the table with the right gripper +- Grasp the XX with the left gripper +- End +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -249,10 +242,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -260,7 +256,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 199 total_frames: 103966 fps: 30 @@ -361,9 +358,11 @@ data_structure: 'Agilex_Cobot_Magic_move_object_beige_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:198 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -636,7 +635,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -644,6 +643,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -670,6 +670,205 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_object_beige_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial & convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the gripper move the object. + sub_tasks: + - subtask: Grasp the XX with the right gripper + subtask_index: 0 + - subtask: Place the XX on the table with the left gripper + subtask_index: 1 + - subtask: Place the XX on the table with the right gripper + subtask_index: 2 + - subtask: Grasp the XX with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 103966 + dataset_size: 1.34 GB + data_structure: 'Agilex_Cobot_Magic_move_object_beige_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (187 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml index 8cb743314436e2466071ab3aeb3343122473ea93..66c529a8a653fa80390cfae2ca9766a3d977c0a7 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -213,503 +213,163 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the gripper move the object. +task_result: 'null' +task_instruction: the gripper move the object. sub_tasks: -- subtask: Place the XX on the table with the left gripper - subtask_index: 0 -- subtask: 'Grasp the pen container with the right gripper - - ' - subtask_index: 1 -- subtask: 'Grasp the blue bowl with the left gripper - - ' - subtask_index: 2 -- subtask: Grasp the pen container with the right gripper - subtask_index: 3 -- subtask: 'Place the square chewing gum on the table with the left gripper - - ' - subtask_index: 4 -- subtask: 'Grasp the pink towel with the left gripper - - ' - subtask_index: 5 -- subtask: 'Place the blue pot on the table with the right gripper - - ' - subtask_index: 6 -- subtask: 'Place the brown towel on the table with the left gripper - - ' - subtask_index: 7 -- subtask: 'Place the waffle on the table with the left gripper - - ' - subtask_index: 8 -- subtask: 'Place the white duck on the table with the right gripper - - ' - subtask_index: 9 -- subtask: 'Place the white blackboard erasure on the table with the left gripper - - ' - subtask_index: 10 -- subtask: 'Grasp the compass with the left gripper - - ' - subtask_index: 11 -- subtask: 'Grasp the green lemon with the right gripper - - ' - subtask_index: 12 -- subtask: 'Grasp the cyan cup with the left gripper - - ' - subtask_index: 13 -- subtask: 'Place the blue bowl on the table with the left gripper - - ' - subtask_index: 14 -- subtask: 'Grasp the mint candy with the right gripper - - ' - subtask_index: 15 -- subtask: Grasp the mint candy with the left gripper - subtask_index: 16 -- subtask: 'Grasp the cyan cup with the right gripper - - ' - subtask_index: 17 -- subtask: 'Grasp the green lemon with the left gripper - - ' - subtask_index: 18 -- subtask: "Grasp the white blackboard erasure\t with the left gripper\n" - subtask_index: 19 -- subtask: 'Grasp the white duck with the left gripper - - ' - subtask_index: 20 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 21 -- subtask: 'Grasp the mint candy with the left gripper - - ' - subtask_index: 22 -- subtask: Place the brown towel on the table with the left gripper - subtask_index: 23 -- subtask: 'Place the on the table with the right gripper - - ' - subtask_index: 24 -- subtask: Grasp the XX with the right gripper - subtask_index: 25 -- subtask: 'Place the blue blackboard erasure on the table with the left gripper - - ' - subtask_index: 26 -- subtask: Place the white blackboard erasure on the table with the left gripper - subtask_index: 27 -- subtask: 'Place the teapot on the table with the right gripper - - ' - subtask_index: 28 -- subtask: Grasp the white blackboard erasure with the left gripper - subtask_index: 29 -- subtask: 'Grasp the Square chewing gum with the right gripper - - ' - subtask_index: 30 -- subtask: 'Place the pink towel on the table with the left gripper - - ' - subtask_index: 31 -- subtask: 'Grasp the hard facial cleanser with the right gripper - - ' - subtask_index: 32 -- subtask: 'Grasp the with the left gripper - - ' - subtask_index: 33 -- subtask: Place the hard facial cleanser on the table with the right gripper - subtask_index: 34 -- subtask: 'Grasp the white duck with the left gripper - - ' - subtask_index: 35 -- subtask: Place the mint candy on the table with the right gripper - subtask_index: 36 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 37 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 38 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 39 -- subtask: Grasp the mango with the left gripper - subtask_index: 40 -- subtask: 'Place the white blackboard erasure on the table with the left gripper - - ' - subtask_index: 41 -- subtask: 'Grasp the brown towel with the left gripper - - ' - subtask_index: 42 -- subtask: 'Place the mango on the table with the right gripper - - ' - subtask_index: 43 -- subtask: 'Place the brown towel on the table with the left gripper - - ' - subtask_index: 44 -- subtask: Place the teapot on the table with the left gripper - subtask_index: 45 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 46 -- subtask: 'Place the pink towel on the table with the right gripper - - ' - subtask_index: 47 -- subtask: 'Grasp the pink towel with the right gripper - - ' - subtask_index: 48 -- subtask: Place the waffle on the table with the right gripper - subtask_index: 49 -- subtask: 'Place the blue pot on the table with the left gripper - - ' - subtask_index: 50 -- subtask: Place the pen container on the table with the right gripper - subtask_index: 51 -- subtask: 'Grasp the blue pot with the right gripper - - ' - subtask_index: 52 -- subtask: 'Grasp the pen container with the left gripper - - ' - subtask_index: 53 -- subtask: 'Grasp the green lemon with the right gripper - - ' - subtask_index: 54 -- subtask: Grasp the eggplant with the right gripper - subtask_index: 55 -- subtask: "Place the white blackboard erasure\t on the table with the left gripper\n" - subtask_index: 56 -- subtask: 'Place the eggplant on the table with the left gripper - - ' - subtask_index: 57 -- subtask: Place the green lemon on the table with the left gripper - subtask_index: 58 -- subtask: Place the XX on the table with the right gripper - subtask_index: 59 -- subtask: End - subtask_index: 60 -- subtask: Grasp the white blackboard erasure with the right gripper - subtask_index: 61 -- subtask: 'Place the white duck on the table with the left gripper - - ' - subtask_index: 62 -- subtask: 'Place the orange on the table with the left gripper - - ' - subtask_index: 63 -- subtask: 'Grasp the eggplant with the right gripper - - ' - subtask_index: 64 -- subtask: 'Grasp the brown towel with the right gripper - - ' - subtask_index: 65 -- subtask: 'Place the square chewing gum on the table with the right gripper - - ' - subtask_index: 66 -- subtask: 'Place the compass on the table with the right gripper - - ' - subtask_index: 67 -- subtask: 'Grasp the orange with the left gripper - - ' - subtask_index: 68 -- subtask: 'Place the hard facial cleanser on the table with the left gripper - - ' - subtask_index: 69 -- subtask: 'Grasp the blue blackboard erasure with the left gripper - - ' - subtask_index: 70 -- subtask: 'Place the brown towel on the table with the right gripper - - ' - subtask_index: 71 -- subtask: 'Grasp the blue blackboard erasure with the right gripper - - ' - subtask_index: 72 -- subtask: 'Grasp the eggplant with the left gripper - - ' - subtask_index: 73 -- subtask: 'Grasp the square chewing gum with the right gripper - - ' - subtask_index: 74 -- subtask: 'Place the mango on the table with the left gripper - - ' - subtask_index: 75 -- subtask: Grasp the waffle with the right gripper - subtask_index: 76 -- subtask: "Grasp the white blackboard erasure\t with the right gripper\n" - subtask_index: 77 -- subtask: 'Place the teapot on the table with the left gripper - - ' - subtask_index: 78 -- subtask: 'Place the waffle on the table with the right gripper - - ' - subtask_index: 79 -- subtask: 'Grasp the mango with the right gripper - - ' - subtask_index: 80 -- subtask: 'Grasp the white blackboard erasure with the left gripper - - ' - subtask_index: 81 -- subtask: 'Grasp the blue pot with the left gripper - - ' - subtask_index: 82 -- subtask: Place the square chewing gum on the table with the right gripper - subtask_index: 83 -- subtask: 'Place the pen container on the table with the right gripper - - ' - subtask_index: 84 -- subtask: 'Place the green lemon on the table with the right gripper - - ' - subtask_index: 85 -- subtask: 'Place the blue blackboard erasure on the table with the right gripper - - ' - subtask_index: 86 -- subtask: 'Grasp the teapot with the left gripper - - ' - subtask_index: 87 -- subtask: 'Place the borwn towel on the table with the right gripper - - ' - subtask_index: 88 -- subtask: 'Place the pen container on the table with the left gripper - - ' - subtask_index: 89 -- subtask: 'Grasp the compass with the left gripper - - ' - subtask_index: 90 -- subtask: 'Grasp the fruit candy with the right gripper - - ' - subtask_index: 91 -- subtask: 'Place the cyan cup on the table with the left gripper - - ' - subtask_index: 92 -- subtask: 'Place the fruit candy on the table with the right gripper - - ' - subtask_index: 93 -- subtask: 'Place the compass on the table with the left gripper - - ' - subtask_index: 94 -- subtask: 'Grasp the white duck with the right gripper - - ' - subtask_index: 95 -- subtask: 'Grasp the waffle with the right gripper - - ' - subtask_index: 96 -- subtask: 'Place the blue pot on the table with the left gripper - - ' - subtask_index: 97 -- subtask: 'Grasp the mango with the left gripper - - ' - subtask_index: 98 -- subtask: 'Grasp the teapot with the right gripper - - ' - subtask_index: 99 -- subtask: 'Place the teacup on the table with the left gripper - - ' - subtask_index: 100 -- subtask: 'Grasp the pink towel with the right gripper - - ' - subtask_index: 101 -- subtask: 'Grasp the blue pot with the left gripper - - ' - subtask_index: 102 -- subtask: 'Place the mango on the table with the right gripper - - ' - subtask_index: 103 -- subtask: Place the mangosteen on the table with the left gripper - subtask_index: 104 -- subtask: 'Grasp the square chewing gum with the left gripper - - ' - subtask_index: 105 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 106 -- subtask: 'Grasp the compass with the right gripper - - ' - subtask_index: 107 -- subtask: 'Place the tea cup on the table with the right gripper - - ' - subtask_index: 108 -- subtask: 'Place the teapot on the table with the left gripper - - ' - subtask_index: 109 -- subtask: 'Grasp the cyan cup with the left gripper - - ' - subtask_index: 110 -- subtask: 'Grasp the eggplant with the right gripper - - ' - subtask_index: 111 -- subtask: Place the white blackboard erasure on the table with the right gripper - subtask_index: 112 -- subtask: 'Place the green lemon on the table with the left gripper - - ' - subtask_index: 113 -- subtask: 'Grasp the hard facial cleanser with the left gripper - - ' - subtask_index: 114 -- subtask: "Place the white blackboard erasure\t on the table with the right gripper\n" - subtask_index: 115 -- subtask: Place the mango on the table with the left gripper - subtask_index: 116 -- subtask: 'Grasp the tea cup with the right gripper - - ' - subtask_index: 117 -- subtask: 'Grasp the waffle with the left gripper - - ' - subtask_index: 118 -- subtask: 'Grasp the pink towel with the left gripper - - ' - subtask_index: 119 -- subtask: 'Place the hard facial cleanser on the table with the right gripper - - ' - subtask_index: 120 -- subtask: 'Place the eggplant on the table with the right gripper - - ' - subtask_index: 121 -- subtask: 'Place the mint candy on the table with the left gripper - - ' - subtask_index: 122 -- subtask: 'Grasp the mint candy with the right gripper - - ' - subtask_index: 123 -- subtask: 'Grasp the chocolate with the right gripper - - ' - subtask_index: 124 -- subtask: 'Place the cyan cup on the table with the right gripper - - ' - subtask_index: 125 -- subtask: Grasp the XX with the left gripper - subtask_index: 126 -- subtask: Place the chocolate on the table with the right gripper - subtask_index: 127 -- subtask: Grasp the mint candy with the right gripper - subtask_index: 128 -- subtask: 'Grasp the with the right gripper - - ' - subtask_index: 129 -- subtask: Place the brown towel on the table with the right gripper - subtask_index: 130 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 131 -- subtask: Place the Mangosteen on the table with the right gripper - subtask_index: 132 -- subtask: Place the square chewing gum on the table with the left gripper - subtask_index: 133 -- subtask: 'Grasp the teacup with the left gripper - - ' - subtask_index: 134 -- subtask: 'Place the chocolate on the table with the right gripper - - ' - subtask_index: 135 -- subtask: 'Grasp the blue bowl with the left gripper - - ' - subtask_index: 136 -- subtask: Grasp the teapot with the left gripper - subtask_index: 137 -- subtask: 'Place the pink bowel on the table with the right gripper - - ' - subtask_index: 138 -- subtask: 'Place the mint candy on the table with the right gripper - - ' - subtask_index: 139 -- subtask: 'null' - subtask_index: 140 +- Place the XX on the table with the left gripper +- Grasp the pen container with the right gripper +- Grasp the blue bowl with the left gripper +- Grasp the pen container with the right gripper +- Place the square chewing gum on the table with the left gripper +- Grasp the pink towel with the left gripper +- Place the blue pot on the table with the right gripper +- Place the brown towel on the table with the left gripper +- Place the waffle on the table with the left gripper +- Place the white duck on the table with the right gripper +- Place the white blackboard erasure on the table with the left gripper +- Grasp the compass with the left gripper +- Grasp the green lemon with the right gripper +- Grasp the cyan cup with the left gripper +- Place the blue bowl on the table with the left gripper +- Grasp the mint candy with the right gripper +- Grasp the mint candy with the left gripper +- Grasp the cyan cup with the right gripper +- Grasp the green lemon with the left gripper +- "Grasp the white blackboard erasure\t with the left gripper" +- Grasp the white duck with the left gripper +- Grasp the square chewing gum with the left gripper +- Grasp the mint candy with the left gripper +- Place the brown towel on the table with the left gripper +- Place the on the table with the right gripper +- Grasp the XX with the right gripper +- Place the blue blackboard erasure on the table with the left gripper +- Place the white blackboard erasure on the table with the left gripper +- Place the teapot on the table with the right gripper +- Grasp the white blackboard erasure with the left gripper +- Grasp the Square chewing gum with the right gripper +- Place the pink towel on the table with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Grasp the with the left gripper +- Place the hard facial cleanser on the table with the right gripper +- Grasp the white duck with the left gripper +- Place the mint candy on the table with the right gripper +- Grasp the brown towel with the left gripper +- Grasp the chocolate with the right gripper +- Grasp the brown towel with the right gripper +- Grasp the mango with the left gripper +- Place the white blackboard erasure on the table with the left gripper +- Grasp the brown towel with the left gripper +- Place the mango on the table with the right gripper +- Place the brown towel on the table with the left gripper +- Place the teapot on the table with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the pink towel on the table with the right gripper +- Grasp the pink towel with the right gripper +- Place the waffle on the table with the right gripper +- Place the blue pot on the table with the left gripper +- Place the pen container on the table with the right gripper +- Grasp the blue pot with the right gripper +- Grasp the pen container with the left gripper +- Grasp the green lemon with the right gripper +- Grasp the eggplant with the right gripper +- "Place the white blackboard erasure\t on the table with the left gripper" +- Place the eggplant on the table with the left gripper +- Place the green lemon on the table with the left gripper +- Place the XX on the table with the right gripper +- End +- Grasp the white blackboard erasure with the right gripper +- Place the white duck on the table with the left gripper +- Place the orange on the table with the left gripper +- Grasp the eggplant with the right gripper +- Grasp the brown towel with the right gripper +- Place the square chewing gum on the table with the right gripper +- Place the compass on the table with the right gripper +- Grasp the orange with the left gripper +- Place the hard facial cleanser on the table with the left gripper +- Grasp the blue blackboard erasure with the left gripper +- Place the brown towel on the table with the right gripper +- Grasp the blue blackboard erasure with the right gripper +- Grasp the eggplant with the left gripper +- Grasp the square chewing gum with the right gripper +- Place the mango on the table with the left gripper +- Grasp the waffle with the right gripper +- "Grasp the white blackboard erasure\t with the right gripper" +- Place the teapot on the table with the left gripper +- Place the waffle on the table with the right gripper +- Grasp the mango with the right gripper +- Grasp the white blackboard erasure with the left gripper +- Grasp the blue pot with the left gripper +- Place the square chewing gum on the table with the right gripper +- Place the pen container on the table with the right gripper +- Place the green lemon on the table with the right gripper +- Place the blue blackboard erasure on the table with the right gripper +- Grasp the teapot with the left gripper +- Place the borwn towel on the table with the right gripper +- Place the pen container on the table with the left gripper +- Grasp the compass with the left gripper +- Grasp the fruit candy with the right gripper +- Place the cyan cup on the table with the left gripper +- Place the fruit candy on the table with the right gripper +- Place the compass on the table with the left gripper +- Grasp the white duck with the right gripper +- Grasp the waffle with the right gripper +- Place the blue pot on the table with the left gripper +- Grasp the mango with the left gripper +- Grasp the teapot with the right gripper +- Place the teacup on the table with the left gripper +- Grasp the pink towel with the right gripper +- Grasp the blue pot with the left gripper +- Place the mango on the table with the right gripper +- Place the mangosteen on the table with the left gripper +- Grasp the square chewing gum with the left gripper +- Grasp the square chewing gum with the right gripper +- Grasp the compass with the right gripper +- Place the tea cup on the table with the right gripper +- Place the teapot on the table with the left gripper +- Grasp the cyan cup with the left gripper +- Grasp the eggplant with the right gripper +- Place the white blackboard erasure on the table with the right gripper +- Place the green lemon on the table with the left gripper +- Grasp the hard facial cleanser with the left gripper +- "Place the white blackboard erasure\t on the table with the right gripper" +- Place the mango on the table with the left gripper +- Grasp the tea cup with the right gripper +- Grasp the waffle with the left gripper +- Grasp the pink towel with the left gripper +- Place the hard facial cleanser on the table with the right gripper +- Place the eggplant on the table with the right gripper +- Place the mint candy on the table with the left gripper +- Grasp the mint candy with the right gripper +- Grasp the chocolate with the right gripper +- Place the cyan cup on the table with the right gripper +- Grasp the XX with the left gripper +- Place the chocolate on the table with the right gripper +- Grasp the mint candy with the right gripper +- Grasp the with the right gripper +- Place the brown towel on the table with the right gripper +- Grasp the green lemon with the left gripper +- Place the Mangosteen on the table with the right gripper +- Place the square chewing gum on the table with the left gripper +- Grasp the teacup with the left gripper +- Place the chocolate on the table with the right gripper +- Grasp the blue bowl with the left gripper +- Grasp the teapot with the left gripper +- Place the pink bowel on the table with the right gripper +- Place the mint candy on the table with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -717,10 +377,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -728,7 +391,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 200 total_frames: 119721 fps: 30 @@ -813,9 +477,11 @@ data_structure: 'Agilex_Cobot_Magic_move_object_black_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:199 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -1088,7 +754,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -1096,6 +762,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -1122,6 +789,657 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_object_black_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial & convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the gripper move the object. + sub_tasks: + - subtask: Place the XX on the table with the left gripper + subtask_index: 0 + - subtask: 'Grasp the pen container with the right gripper + + ' + subtask_index: 1 + - subtask: 'Grasp the blue bowl with the left gripper + + ' + subtask_index: 2 + - subtask: Grasp the pen container with the right gripper + subtask_index: 3 + - subtask: 'Place the square chewing gum on the table with the left gripper + + ' + subtask_index: 4 + - subtask: 'Grasp the pink towel with the left gripper + + ' + subtask_index: 5 + - subtask: 'Place the blue pot on the table with the right gripper + + ' + subtask_index: 6 + - subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 7 + - subtask: 'Place the waffle on the table with the left gripper + + ' + subtask_index: 8 + - subtask: 'Place the white duck on the table with the right gripper + + ' + subtask_index: 9 + - subtask: 'Place the white blackboard erasure on the table with the left gripper + + ' + subtask_index: 10 + - subtask: 'Grasp the compass with the left gripper + + ' + subtask_index: 11 + - subtask: 'Grasp the green lemon with the right gripper + + ' + subtask_index: 12 + - subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 13 + - subtask: 'Place the blue bowl on the table with the left gripper + + ' + subtask_index: 14 + - subtask: 'Grasp the mint candy with the right gripper + + ' + subtask_index: 15 + - subtask: Grasp the mint candy with the left gripper + subtask_index: 16 + - subtask: 'Grasp the cyan cup with the right gripper + + ' + subtask_index: 17 + - subtask: 'Grasp the green lemon with the left gripper + + ' + subtask_index: 18 + - subtask: "Grasp the white blackboard erasure\t with the left gripper\n" + subtask_index: 19 + - subtask: 'Grasp the white duck with the left gripper + + ' + subtask_index: 20 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 21 + - subtask: 'Grasp the mint candy with the left gripper + + ' + subtask_index: 22 + - subtask: Place the brown towel on the table with the left gripper + subtask_index: 23 + - subtask: 'Place the on the table with the right gripper + + ' + subtask_index: 24 + - subtask: Grasp the XX with the right gripper + subtask_index: 25 + - subtask: 'Place the blue blackboard erasure on the table with the left gripper + + ' + subtask_index: 26 + - subtask: Place the white blackboard erasure on the table with the left gripper + subtask_index: 27 + - subtask: 'Place the teapot on the table with the right gripper + + ' + subtask_index: 28 + - subtask: Grasp the white blackboard erasure with the left gripper + subtask_index: 29 + - subtask: 'Grasp the Square chewing gum with the right gripper + + ' + subtask_index: 30 + - subtask: 'Place the pink towel on the table with the left gripper + + ' + subtask_index: 31 + - subtask: 'Grasp the hard facial cleanser with the right gripper + + ' + subtask_index: 32 + - subtask: 'Grasp the with the left gripper + + ' + subtask_index: 33 + - subtask: Place the hard facial cleanser on the table with the right gripper + subtask_index: 34 + - subtask: 'Grasp the white duck with the left gripper + + ' + subtask_index: 35 + - subtask: Place the mint candy on the table with the right gripper + subtask_index: 36 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 37 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 38 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 39 + - subtask: Grasp the mango with the left gripper + subtask_index: 40 + - subtask: 'Place the white blackboard erasure on the table with the left gripper + + ' + subtask_index: 41 + - subtask: 'Grasp the brown towel with the left gripper + + ' + subtask_index: 42 + - subtask: 'Place the mango on the table with the right gripper + + ' + subtask_index: 43 + - subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 44 + - subtask: Place the teapot on the table with the left gripper + subtask_index: 45 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 46 + - subtask: 'Place the pink towel on the table with the right gripper + + ' + subtask_index: 47 + - subtask: 'Grasp the pink towel with the right gripper + + ' + subtask_index: 48 + - subtask: Place the waffle on the table with the right gripper + subtask_index: 49 + - subtask: 'Place the blue pot on the table with the left gripper + + ' + subtask_index: 50 + - subtask: Place the pen container on the table with the right gripper + subtask_index: 51 + - subtask: 'Grasp the blue pot with the right gripper + + ' + subtask_index: 52 + - subtask: 'Grasp the pen container with the left gripper + + ' + subtask_index: 53 + - subtask: 'Grasp the green lemon with the right gripper + + ' + subtask_index: 54 + - subtask: Grasp the eggplant with the right gripper + subtask_index: 55 + - subtask: "Place the white blackboard erasure\t on the table with the left gripper\n" + subtask_index: 56 + - subtask: 'Place the eggplant on the table with the left gripper + + ' + subtask_index: 57 + - subtask: Place the green lemon on the table with the left gripper + subtask_index: 58 + - subtask: Place the XX on the table with the right gripper + subtask_index: 59 + - subtask: End + subtask_index: 60 + - subtask: Grasp the white blackboard erasure with the right gripper + subtask_index: 61 + - subtask: 'Place the white duck on the table with the left gripper + + ' + subtask_index: 62 + - subtask: 'Place the orange on the table with the left gripper + + ' + subtask_index: 63 + - subtask: 'Grasp the eggplant with the right gripper + + ' + subtask_index: 64 + - subtask: 'Grasp the brown towel with the right gripper + + ' + subtask_index: 65 + - subtask: 'Place the square chewing gum on the table with the right gripper + + ' + subtask_index: 66 + - subtask: 'Place the compass on the table with the right gripper + + ' + subtask_index: 67 + - subtask: 'Grasp the orange with the left gripper + + ' + subtask_index: 68 + - subtask: 'Place the hard facial cleanser on the table with the left gripper + + ' + subtask_index: 69 + - subtask: 'Grasp the blue blackboard erasure with the left gripper + + ' + subtask_index: 70 + - subtask: 'Place the brown towel on the table with the right gripper + + ' + subtask_index: 71 + - subtask: 'Grasp the blue blackboard erasure with the right gripper + + ' + subtask_index: 72 + - subtask: 'Grasp the eggplant with the left gripper + + ' + subtask_index: 73 + - subtask: 'Grasp the square chewing gum with the right gripper + + ' + subtask_index: 74 + - subtask: 'Place the mango on the table with the left gripper + + ' + subtask_index: 75 + - subtask: Grasp the waffle with the right gripper + subtask_index: 76 + - subtask: "Grasp the white blackboard erasure\t with the right gripper\n" + subtask_index: 77 + - subtask: 'Place the teapot on the table with the left gripper + + ' + subtask_index: 78 + - subtask: 'Place the waffle on the table with the right gripper + + ' + subtask_index: 79 + - subtask: 'Grasp the mango with the right gripper + + ' + subtask_index: 80 + - subtask: 'Grasp the white blackboard erasure with the left gripper + + ' + subtask_index: 81 + - subtask: 'Grasp the blue pot with the left gripper + + ' + subtask_index: 82 + - subtask: Place the square chewing gum on the table with the right gripper + subtask_index: 83 + - subtask: 'Place the pen container on the table with the right gripper + + ' + subtask_index: 84 + - subtask: 'Place the green lemon on the table with the right gripper + + ' + subtask_index: 85 + - subtask: 'Place the blue blackboard erasure on the table with the right gripper + + ' + subtask_index: 86 + - subtask: 'Grasp the teapot with the left gripper + + ' + subtask_index: 87 + - subtask: 'Place the borwn towel on the table with the right gripper + + ' + subtask_index: 88 + - subtask: 'Place the pen container on the table with the left gripper + + ' + subtask_index: 89 + - subtask: 'Grasp the compass with the left gripper + + ' + subtask_index: 90 + - subtask: 'Grasp the fruit candy with the right gripper + + ' + subtask_index: 91 + - subtask: 'Place the cyan cup on the table with the left gripper + + ' + subtask_index: 92 + - subtask: 'Place the fruit candy on the table with the right gripper + + ' + subtask_index: 93 + - subtask: 'Place the compass on the table with the left gripper + + ' + subtask_index: 94 + - subtask: 'Grasp the white duck with the right gripper + + ' + subtask_index: 95 + - subtask: 'Grasp the waffle with the right gripper + + ' + subtask_index: 96 + - subtask: 'Place the blue pot on the table with the left gripper + + ' + subtask_index: 97 + - subtask: 'Grasp the mango with the left gripper + + ' + subtask_index: 98 + - subtask: 'Grasp the teapot with the right gripper + + ' + subtask_index: 99 + - subtask: 'Place the teacup on the table with the left gripper + + ' + subtask_index: 100 + - subtask: 'Grasp the pink towel with the right gripper + + ' + subtask_index: 101 + - subtask: 'Grasp the blue pot with the left gripper + + ' + subtask_index: 102 + - subtask: 'Place the mango on the table with the right gripper + + ' + subtask_index: 103 + - subtask: Place the mangosteen on the table with the left gripper + subtask_index: 104 + - subtask: 'Grasp the square chewing gum with the left gripper + + ' + subtask_index: 105 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 106 + - subtask: 'Grasp the compass with the right gripper + + ' + subtask_index: 107 + - subtask: 'Place the tea cup on the table with the right gripper + + ' + subtask_index: 108 + - subtask: 'Place the teapot on the table with the left gripper + + ' + subtask_index: 109 + - subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 110 + - subtask: 'Grasp the eggplant with the right gripper + + ' + subtask_index: 111 + - subtask: Place the white blackboard erasure on the table with the right gripper + subtask_index: 112 + - subtask: 'Place the green lemon on the table with the left gripper + + ' + subtask_index: 113 + - subtask: 'Grasp the hard facial cleanser with the left gripper + + ' + subtask_index: 114 + - subtask: "Place the white blackboard erasure\t on the table with the right gripper\n" + subtask_index: 115 + - subtask: Place the mango on the table with the left gripper + subtask_index: 116 + - subtask: 'Grasp the tea cup with the right gripper + + ' + subtask_index: 117 + - subtask: 'Grasp the waffle with the left gripper + + ' + subtask_index: 118 + - subtask: 'Grasp the pink towel with the left gripper + + ' + subtask_index: 119 + - subtask: 'Place the hard facial cleanser on the table with the right gripper + + ' + subtask_index: 120 + - subtask: 'Place the eggplant on the table with the right gripper + + ' + subtask_index: 121 + - subtask: 'Place the mint candy on the table with the left gripper + + ' + subtask_index: 122 + - subtask: 'Grasp the mint candy with the right gripper + + ' + subtask_index: 123 + - subtask: 'Grasp the chocolate with the right gripper + + ' + subtask_index: 124 + - subtask: 'Place the cyan cup on the table with the right gripper + + ' + subtask_index: 125 + - subtask: Grasp the XX with the left gripper + subtask_index: 126 + - subtask: Place the chocolate on the table with the right gripper + subtask_index: 127 + - subtask: Grasp the mint candy with the right gripper + subtask_index: 128 + - subtask: 'Grasp the with the right gripper + + ' + subtask_index: 129 + - subtask: Place the brown towel on the table with the right gripper + subtask_index: 130 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 131 + - subtask: Place the Mangosteen on the table with the right gripper + subtask_index: 132 + - subtask: Place the square chewing gum on the table with the left gripper + subtask_index: 133 + - subtask: 'Grasp the teacup with the left gripper + + ' + subtask_index: 134 + - subtask: 'Place the chocolate on the table with the right gripper + + ' + subtask_index: 135 + - subtask: 'Grasp the blue bowl with the left gripper + + ' + subtask_index: 136 + - subtask: Grasp the teapot with the left gripper + subtask_index: 137 + - subtask: 'Place the pink bowel on the table with the right gripper + + ' + subtask_index: 138 + - subtask: 'Place the mint candy on the table with the right gripper + + ' + subtask_index: 139 + - subtask: 'null' + subtask_index: 140 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 119721 + dataset_size: 6.75 GB + data_structure: 'Agilex_Cobot_Magic_move_object_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml index e151892e329001a283393ca0994a457b0e1a5ecf..c3a24de23bd94350ac3256baead7b1e96d9757cd 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_object_green_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -213,584 +213,205 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the gripper move the object. +task_result: 'null' +task_instruction: the gripper move the object. sub_tasks: -- subtask: Place the XX on the table with the left gripper - subtask_index: 0 -- subtask: 'Grasp the blue blackboard earser with the right gripper - - ' - subtask_index: 1 -- subtask: 'Grasp the square chewing gun with the right gripper ' - subtask_index: 2 -- subtask: 'Grasp the pen container with the right gripper - - ' - subtask_index: 3 -- subtask: 'Grasp the blue bowl with the left gripper - - ' - subtask_index: 4 -- subtask: 'Place the hard blackbaord cleanser on the table with the left gripper - - ' - subtask_index: 5 -- subtask: 'Place the blue towel on the table with the right gripper - - ' - subtask_index: 6 -- subtask: 'Grasp the orange with the right gripper - - ' - subtask_index: 7 -- subtask: 'Grasp the white blackboard earser with the left gripper - - ' - subtask_index: 8 -- subtask: 'Place the mangosteen on the table with the left gripper - - ' - subtask_index: 9 -- subtask: Grasp the pen container with the right gripper - subtask_index: 10 -- subtask: Place the pen container on the table with the right gripper - subtask_index: 11 -- subtask: Grasp the white blackboard earser with left gripper - subtask_index: 12 -- subtask: Place the blue bowl on the table with the right gripper - subtask_index: 13 -- subtask: Place the eggplant on the table with the right gripper - subtask_index: 14 -- subtask: 'Place the blue blackboard earser on the table with the right gripper - - ' - subtask_index: 15 -- subtask: 'Place the blue blackboard earser on the table with the right gripper - - ' - subtask_index: 16 -- subtask: 'Place the orange on the table with the right gripper - - ' - subtask_index: 17 -- subtask: 'Place the blue bowl on the table with the right gripper - - ' - subtask_index: 18 -- subtask: 'Place the brown towel on the table with the left gripper - - ' - subtask_index: 19 -- subtask: 'Grasp the cyan cup with the right gripper ' - subtask_index: 20 -- subtask: Place the compasses on the table with the right gripper - subtask_index: 21 -- subtask: Grasp the compasses with the right gripper - subtask_index: 22 -- subtask: 'Grasp the green lemon with the right gripper - - ' - subtask_index: 23 -- subtask: 'Grasp the cyan cup with the left gripper - - ' - subtask_index: 24 -- subtask: 'Place the wallfe on the table with the left gripper - - ' - subtask_index: 25 -- subtask: 'Place the blue bowl on the table with the left gripper - - ' - subtask_index: 26 -- subtask: Grasp the fruit candy with the left gripper - subtask_index: 27 -- subtask: Grasp the orange with the right gripper - subtask_index: 28 -- subtask: Place the green lemon on the table with the right gripper - subtask_index: 29 -- subtask: 'Grasp the cyan cup with the right gripper - - ' - subtask_index: 30 -- subtask: 'Grasp the wallfe with the right gripper - - ' - subtask_index: 31 -- subtask: 'Grasp the green lemon with the left gripper - - ' - subtask_index: 32 -- subtask: 'Place the white blackboard earser on the table with the right gripper - - ' - subtask_index: 33 -- subtask: ' - - Grasp the green lemon with the right gripper' - subtask_index: 34 -- subtask: 'Grasp the square chewing gun with the left gripper - - ' - subtask_index: 35 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 36 -- subtask: 'Grasp the with cyan cup the left gripper - - ' - subtask_index: 37 -- subtask: Place the blue bowl on the table with the left gripper - subtask_index: 38 -- subtask: 'Grasp the tea[ot with the left gripper - - ' - subtask_index: 39 -- subtask: 'Grasp the cyan cup with the right gripper ' - subtask_index: 40 -- subtask: 'Place the wallfe on the table with the right gripper - - ' - subtask_index: 41 -- subtask: 'Place the pen container on the table with the right gripper - - ' - subtask_index: 42 -- subtask: Place the eggplant on the table with the left gripper - subtask_index: 43 -- subtask: 'Grasp the hard facial cleanser with the right gripper - - ' - subtask_index: 44 -- subtask: 'Place the ornage on the table with the right gripper - - ' - subtask_index: 45 -- subtask: 'Grasp the pen container with the left gripper - - ' - subtask_index: 46 -- subtask: Place the fruit candy on the table with the left gripper - subtask_index: 47 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 48 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 49 -- subtask: 'Grasp the blue blackboard earser with the right gripper ' - subtask_index: 50 -- subtask: Grasp the mangosteen with the left gripper - subtask_index: 51 -- subtask: 'Place the square chewing gun on the table with the right gripper - - ' - subtask_index: 52 -- subtask: 'Grasp the brown towel with the left gripper - - ' - subtask_index: 53 -- subtask: 'Place the brown towel on the table with the left gripper - - ' - subtask_index: 54 -- subtask: 'Grasp the brown towel with the right gripper mangosteen - - ' - subtask_index: 55 -- subtask: 'Grasp the blue bowl with the right gripper - - ' - subtask_index: 56 -- subtask: Place the teapot on the table with the left gripper - subtask_index: 57 -- subtask: 'Grasp the blue cup with the left gripper - - ' - subtask_index: 58 -- subtask: Grasp the teacup with the right gripper - subtask_index: 59 -- subtask: Grasp the square chewing gun with the right gripper - subtask_index: 60 -- subtask: Grasp the teapot with the right gripper - subtask_index: 61 -- subtask: Place the pink towel on the table with the left gripper - subtask_index: 62 -- subtask: Grasp the blue bowl with the left gripper - subtask_index: 63 -- subtask: Place the waffle on the table with the right gripper - subtask_index: 64 -- subtask: Place the pen container on the table with the right gripper - subtask_index: 65 -- subtask: Place the mangosteen on the table with the right gripper - subtask_index: 66 -- subtask: 'Grasp the pen container with the left gripper - - ' - subtask_index: 67 -- subtask: Grasp the eggplant with the right gripper - subtask_index: 68 -- subtask: 'Grasp the white blackboard earser with the right gripper ' - subtask_index: 69 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 70 -- subtask: 'Place the eggplant on the table with the left gripper - - ' - subtask_index: 71 -- subtask: Grasp the eggplant with the left gripper - subtask_index: 72 -- subtask: Place the hard facial cleanser on the table with the left gripper - subtask_index: 73 -- subtask: 'Grasp the hard facial cleanser with the right gripper ' - subtask_index: 74 -- subtask: 'Grasp the mangosteen with the left gripper - - ' - subtask_index: 75 -- subtask: 'Place the mangosteen on the table with the right gripper - - ' - subtask_index: 76 -- subtask: End - subtask_index: 77 -- subtask: 'Grasp the wallfe with the right gripper ' - subtask_index: 78 -- subtask: Grasp the white blackboard erasure with the right gripper - subtask_index: 79 -- subtask: Grasp the blue blackboard erasure with the left gripper - subtask_index: 80 -- subtask: 'Grasp the white blackboard earser with the right gripper - - ' - subtask_index: 81 -- subtask: 'Place the orange on the table with the left gripper - - ' - subtask_index: 82 -- subtask: Place the fruit candy on the table with the right gripper - subtask_index: 83 -- subtask: 'Grasp the brown towel with the right gripper - - ' - subtask_index: 84 -- subtask: 'Grasp the orange with the left gripper - - ' - subtask_index: 85 -- subtask: 'Place the compass on the table with the right gripper - - ' - subtask_index: 86 -- subtask: 'Grasp the tea cup with the left gripper - - ' - subtask_index: 87 -- subtask: 'Place the hard facial cleanser on the table with the left gripper - - ' - subtask_index: 88 -- subtask: 'Place the brown towel on the table with the right gripper - - ' - subtask_index: 89 -- subtask: 'Grasp the eggplant with the left gripper - - ' - subtask_index: 90 -- subtask: Place the pen container on the table with the left gripper - subtask_index: 91 -- subtask: 'Grasp the white blackboard earser with the right gripper - - ' - subtask_index: 92 -- subtask: 'Grasp the square chewing gun with the right gripper ' - subtask_index: 93 -- subtask: 'Place the cyan cup on the table with the left gripper - - ' - subtask_index: 94 -- subtask: Grasp the waffle with the right gripper - subtask_index: 95 -- subtask: Grasp the blue bowl with the right gripper - subtask_index: 96 -- subtask: 'Grasp the square chewing gun with the right gripper ' - subtask_index: 97 -- subtask: 'Place the waffle on the table with the right gripper - - ' - subtask_index: 98 -- subtask: 'Grasp the blue bowl with the right gripper ' - subtask_index: 99 -- subtask: Abnormal - subtask_index: 100 -- subtask: 'Grasp the white blackboard earser with the right gripper mangosteen - - ' - subtask_index: 101 -- subtask: "Grasp the blue towel with the right gripper \ - \ \n" - subtask_index: 102 -- subtask: 'Grasp the brown towel with the right gripper - - ' - subtask_index: 103 -- subtask: 'Place the pen container on the table with the right gripper - - ' - subtask_index: 104 -- subtask: Place the square chewing gum on the table with the right gripper - subtask_index: 105 -- subtask: 'Place the green lemon on the table with the right gripper - - ' - subtask_index: 106 -- subtask: 'Place the chocolate on the table with the right gripper - - ' - subtask_index: 107 -- subtask: 'Grasp the square facial square with the right gripper ' - subtask_index: 108 -- subtask: 'Grasp the teapot with the left gripper - - ' - subtask_index: 109 -- subtask: 'Place the pen container on the table with the left gripper - - ' - subtask_index: 110 -- subtask: 'Place the hard facial earser on the table with the right gripper - - ' - subtask_index: 111 -- subtask: Place the teacup on the table with the left gripper - subtask_index: 112 -- subtask: 'Place the sqaure chewing gun on the table with the right gripper - - ' - subtask_index: 113 -- subtask: 'Place the blue cup on the table with the left gripper - - ' - subtask_index: 114 -- subtask: Place the blue blackboard erasure on the table with the left gripper - subtask_index: 115 -- subtask: 'Grasp the wallfe with the right gripper ' - subtask_index: 116 -- subtask: Grasp the cyan cup with the right gripper - subtask_index: 117 -- subtask: Grasp the pink towel with the left gripper - subtask_index: 118 -- subtask: Grasp the mangosteen with the right gripper - subtask_index: 119 -- subtask: 'Place the cyan cup on the table with the left gripper - - ' - subtask_index: 120 -- subtask: 'Place the wallfe on the table with the right gripper - - ' - subtask_index: 121 -- subtask: 'Grasp the square chewing gun with the left gripper - - ' - subtask_index: 122 -- subtask: 'Grasp the blue bowel with the right gripper ' - subtask_index: 123 -- subtask: Grasp the orange with the left gripper - subtask_index: 124 -- subtask: 'Place the sqaure chewing gun on the table with the right gripper - - ' - subtask_index: 125 -- subtask: 'Grasp the sqaure chewing gun with the right gripper - - ' - subtask_index: 126 -- subtask: Place the orange on the table with the right gripper - subtask_index: 127 -- subtask: 'Place the white blackboard earser on the table with the left gripper - - ' - subtask_index: 128 -- subtask: 'Place the teacup on the table with the left gripper - - ' - subtask_index: 129 -- subtask: Grasp the pen container with the right gripper - subtask_index: 130 -- subtask: 'Grasp the blue blackboard earser with the left gripper - - ' - subtask_index: 131 -- subtask: Place the teapot on the table with the right gripper - subtask_index: 132 -- subtask: 'Grasp the wallfe with the right gripper ' - subtask_index: 133 -- subtask: Place the mangosteen on the table with the left gripper - subtask_index: 134 -- subtask: 'Place the square chewing gun on the table with the left gripper - - ' - subtask_index: 135 -- subtask: Grasp the fruit candy with the right gripper - subtask_index: 136 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 137 -- subtask: 'Grasp the compass with the right gripper - - ' - subtask_index: 138 -- subtask: 'Place the teapot on the table with the left gripper - - ' - subtask_index: 139 -- subtask: 'Grasp the cyan cup with the left gripper - - ' - subtask_index: 140 -- subtask: Place the teacup on the table with the right gripper - subtask_index: 141 -- subtask: 'Grasp the eggplant with the right gripper - - ' - subtask_index: 142 -- subtask: 'Grasp the pen container with the right gripper mangosteen - - ' - subtask_index: 143 -- subtask: 'Grasp the mangosteen with the right gripper ' - subtask_index: 144 -- subtask: 'Place the green lemon on the table with the left gripper - - ' - subtask_index: 145 -- subtask: Place the pen containeron the table with the left gripper - subtask_index: 146 -- subtask: Place the white blackboard erasure on the table with the right gripper - subtask_index: 147 -- subtask: 'Grasp the hard facial cleanser with the left gripper - - ' - subtask_index: 148 -- subtask: 'Grasp the whiite blackboard earser with the right gripper - - ' - subtask_index: 149 -- subtask: 'Grasp the wallfe with the left gripper - - ' - subtask_index: 150 -- subtask: 'Grasp the wallfe with the right gripper mangosteen - - ' - subtask_index: 151 -- subtask: 'Grasp the chocolate with the right gripper ' - subtask_index: 152 -- subtask: 'Place the cyan cup on the table with the left gripper - - ' - subtask_index: 153 -- subtask: 'Grasp the cyan cup with the right gripper - - ' - subtask_index: 154 -- subtask: 'Place the green lemon on the table with the right gripper - - ' - subtask_index: 155 -- subtask: Place the chocolate on the table with the left gripper - subtask_index: 156 -- subtask: 'Grasp the cyan cup with the right gripper mangosteen - - ' - subtask_index: 157 -- subtask: 'Grasp the eggplant with the right gripper ' - subtask_index: 158 -- subtask: 'Grasp the white blackboard earser with the left gripper - - ' - subtask_index: 159 -- subtask: 'Place the hard facial cleanser on the table with the right gripper - - ' - subtask_index: 160 -- subtask: 'Place the blue blackboard earser on the table with the left gripper - - ' - subtask_index: 161 -- subtask: 'Place the eggplant on the table with the right gripper - - ' - subtask_index: 162 -- subtask: 'Grasp the chocolate with the right gripper - - ' - subtask_index: 163 -- subtask: Grasp the chocolate with the left gripper - subtask_index: 164 -- subtask: Place the orange on the table with the left gripper - subtask_index: 165 -- subtask: Grasp the XX with the left gripper - subtask_index: 166 -- subtask: Place the pen container on the table with the left gripper - subtask_index: 167 -- subtask: Place the chocolate on the table with the right gripper - subtask_index: 168 -- subtask: Place the white blackboard earser on the table with the left gripper - subtask_index: 169 -- subtask: 'Grasp the chocolate with the left gripper - - ' - subtask_index: 170 -- subtask: Grasp the pen container with the left gripper - subtask_index: 171 -- subtask: 'Place the sqaure chewing gun on the table with the left gripper - - ' - subtask_index: 172 -- subtask: 'Place the tea cup on the table with the left gripper - - ' - subtask_index: 173 -- subtask: 'Place the chocolate on the table with the right gripper - - ' - subtask_index: 174 -- subtask: 'Grasp the teacup with the left gripper - - ' - subtask_index: 175 -- subtask: Place the square chewing gum on the table with the left gripper - subtask_index: 176 -- subtask: 'Grasp the brown towel with the right gripper ' - subtask_index: 177 -- subtask: Grasp the teapot with the left gripper - subtask_index: 178 -- subtask: Grasp the teacup with the left gripper - subtask_index: 179 -- subtask: 'Place the chocolate on the table with the left gripper - - ' - subtask_index: 180 -- subtask: 'Place the cyan cup on the table with the right gripper - - ' - subtask_index: 181 -- subtask: 'null' - subtask_index: 182 +- Place the XX on the table with the left gripper +- Grasp the blue blackboard earser with the right gripper +- Grasp the square chewing gun with the right gripper +- Grasp the pen container with the right gripper +- Grasp the blue bowl with the left gripper +- Place the hard blackbaord cleanser on the table with the left gripper +- Place the blue towel on the table with the right gripper +- Grasp the orange with the right gripper +- Grasp the white blackboard earser with the left gripper +- Place the mangosteen on the table with the left gripper +- Grasp the pen container with the right gripper +- Place the pen container on the table with the right gripper +- Grasp the white blackboard earser with left gripper +- Place the blue bowl on the table with the right gripper +- Place the eggplant on the table with the right gripper +- Place the blue blackboard earser on the table with the right gripper +- Place the blue blackboard earser on the table with the right gripper +- Place the orange on the table with the right gripper +- Place the blue bowl on the table with the right gripper +- Place the brown towel on the table with the left gripper +- Grasp the cyan cup with the right gripper +- Place the compasses on the table with the right gripper +- Grasp the compasses with the right gripper +- Grasp the green lemon with the right gripper +- Grasp the cyan cup with the left gripper +- Place the wallfe on the table with the left gripper +- Place the blue bowl on the table with the left gripper +- Grasp the fruit candy with the left gripper +- Grasp the orange with the right gripper +- Place the green lemon on the table with the right gripper +- Grasp the cyan cup with the right gripper +- Grasp the wallfe with the right gripper +- Grasp the green lemon with the left gripper +- Place the white blackboard earser on the table with the right gripper +- Grasp the green lemon with the right gripper +- Grasp the square chewing gun with the left gripper +- Grasp the square chewing gum with the left gripper +- Grasp the with cyan cup the left gripper +- Place the blue bowl on the table with the left gripper +- Grasp the tea[ot with the left gripper +- Grasp the cyan cup with the right gripper +- Place the wallfe on the table with the right gripper +- Place the pen container on the table with the right gripper +- Place the eggplant on the table with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the ornage on the table with the right gripper +- Grasp the pen container with the left gripper +- Place the fruit candy on the table with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the chocolate with the right gripper +- Grasp the blue blackboard earser with the right gripper +- Grasp the mangosteen with the left gripper +- Place the square chewing gun on the table with the right gripper +- Grasp the brown towel with the left gripper +- Place the brown towel on the table with the left gripper +- Grasp the brown towel with the right gripper mangosteen +- Grasp the blue bowl with the right gripper +- Place the teapot on the table with the left gripper +- Grasp the blue cup with the left gripper +- Grasp the teacup with the right gripper +- Grasp the square chewing gun with the right gripper +- Grasp the teapot with the right gripper +- Place the pink towel on the table with the left gripper +- Grasp the blue bowl with the left gripper +- Place the waffle on the table with the right gripper +- Place the pen container on the table with the right gripper +- Place the mangosteen on the table with the right gripper +- Grasp the pen container with the left gripper +- Grasp the eggplant with the right gripper +- Grasp the white blackboard earser with the right gripper +- Grasp the green lemon with the right gripper +- Place the eggplant on the table with the left gripper +- Grasp the eggplant with the left gripper +- Place the hard facial cleanser on the table with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Grasp the mangosteen with the left gripper +- Place the mangosteen on the table with the right gripper +- End +- Grasp the wallfe with the right gripper +- Grasp the white blackboard erasure with the right gripper +- Grasp the blue blackboard erasure with the left gripper +- Grasp the white blackboard earser with the right gripper +- Place the orange on the table with the left gripper +- Place the fruit candy on the table with the right gripper +- Grasp the brown towel with the right gripper +- Grasp the orange with the left gripper +- Place the compass on the table with the right gripper +- Grasp the tea cup with the left gripper +- Place the hard facial cleanser on the table with the left gripper +- Place the brown towel on the table with the right gripper +- Grasp the eggplant with the left gripper +- Place the pen container on the table with the left gripper +- Grasp the white blackboard earser with the right gripper +- Grasp the square chewing gun with the right gripper +- Place the cyan cup on the table with the left gripper +- Grasp the waffle with the right gripper +- Grasp the blue bowl with the right gripper +- Grasp the square chewing gun with the right gripper +- Place the waffle on the table with the right gripper +- Grasp the blue bowl with the right gripper +- Abnormal +- Grasp the white blackboard earser with the right gripper mangosteen +- Grasp the blue towel with the right gripper +- Grasp the brown towel with the right gripper +- Place the pen container on the table with the right gripper +- Place the square chewing gum on the table with the right gripper +- Place the green lemon on the table with the right gripper +- Place the chocolate on the table with the right gripper +- Grasp the square facial square with the right gripper +- Grasp the teapot with the left gripper +- Place the pen container on the table with the left gripper +- Place the hard facial earser on the table with the right gripper +- Place the teacup on the table with the left gripper +- Place the sqaure chewing gun on the table with the right gripper +- Place the blue cup on the table with the left gripper +- Place the blue blackboard erasure on the table with the left gripper +- Grasp the wallfe with the right gripper +- Grasp the cyan cup with the right gripper +- Grasp the pink towel with the left gripper +- Grasp the mangosteen with the right gripper +- Place the cyan cup on the table with the left gripper +- Place the wallfe on the table with the right gripper +- Grasp the square chewing gun with the left gripper +- Grasp the blue bowel with the right gripper +- Grasp the orange with the left gripper +- Place the sqaure chewing gun on the table with the right gripper +- Grasp the sqaure chewing gun with the right gripper +- Place the orange on the table with the right gripper +- Place the white blackboard earser on the table with the left gripper +- Place the teacup on the table with the left gripper +- Grasp the pen container with the right gripper +- Grasp the blue blackboard earser with the left gripper +- Place the teapot on the table with the right gripper +- Grasp the wallfe with the right gripper +- Place the mangosteen on the table with the left gripper +- Place the square chewing gun on the table with the left gripper +- Grasp the fruit candy with the right gripper +- Grasp the square chewing gum with the right gripper +- Grasp the compass with the right gripper +- Place the teapot on the table with the left gripper +- Grasp the cyan cup with the left gripper +- Place the teacup on the table with the right gripper +- Grasp the eggplant with the right gripper +- Grasp the pen container with the right gripper mangosteen +- Grasp the mangosteen with the right gripper +- Place the green lemon on the table with the left gripper +- Place the pen containeron the table with the left gripper +- Place the white blackboard erasure on the table with the right gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the whiite blackboard earser with the right gripper +- Grasp the wallfe with the left gripper +- Grasp the wallfe with the right gripper mangosteen +- Grasp the chocolate with the right gripper +- Place the cyan cup on the table with the left gripper +- Grasp the cyan cup with the right gripper +- Place the green lemon on the table with the right gripper +- Place the chocolate on the table with the left gripper +- Grasp the cyan cup with the right gripper mangosteen +- Grasp the eggplant with the right gripper +- Grasp the white blackboard earser with the left gripper +- Place the hard facial cleanser on the table with the right gripper +- Place the blue blackboard earser on the table with the left gripper +- Place the eggplant on the table with the right gripper +- Grasp the chocolate with the right gripper +- Grasp the chocolate with the left gripper +- Place the orange on the table with the left gripper +- Grasp the XX with the left gripper +- Place the pen container on the table with the left gripper +- Place the chocolate on the table with the right gripper +- Place the white blackboard earser on the table with the left gripper +- Grasp the chocolate with the left gripper +- Grasp the pen container with the left gripper +- Place the sqaure chewing gun on the table with the left gripper +- Place the tea cup on the table with the left gripper +- Place the chocolate on the table with the right gripper +- Grasp the teacup with the left gripper +- Place the square chewing gum on the table with the left gripper +- Grasp the brown towel with the right gripper +- Grasp the teapot with the left gripper +- Grasp the teacup with the left gripper +- Place the chocolate on the table with the left gripper +- Place the cyan cup on the table with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -798,10 +419,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -809,7 +433,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 197 total_frames: 85405 fps: 30 @@ -910,9 +535,11 @@ data_structure: 'Agilex_Cobot_Magic_move_object_green_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:196 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -1185,7 +812,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -1193,6 +820,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -1219,6 +847,754 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_object_green_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial & convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the gripper move the object. + sub_tasks: + - subtask: Place the XX on the table with the left gripper + subtask_index: 0 + - subtask: 'Grasp the blue blackboard earser with the right gripper + + ' + subtask_index: 1 + - subtask: 'Grasp the square chewing gun with the right gripper ' + subtask_index: 2 + - subtask: 'Grasp the pen container with the right gripper + + ' + subtask_index: 3 + - subtask: 'Grasp the blue bowl with the left gripper + + ' + subtask_index: 4 + - subtask: 'Place the hard blackbaord cleanser on the table with the left gripper + + ' + subtask_index: 5 + - subtask: 'Place the blue towel on the table with the right gripper + + ' + subtask_index: 6 + - subtask: 'Grasp the orange with the right gripper + + ' + subtask_index: 7 + - subtask: 'Grasp the white blackboard earser with the left gripper + + ' + subtask_index: 8 + - subtask: 'Place the mangosteen on the table with the left gripper + + ' + subtask_index: 9 + - subtask: Grasp the pen container with the right gripper + subtask_index: 10 + - subtask: Place the pen container on the table with the right gripper + subtask_index: 11 + - subtask: Grasp the white blackboard earser with left gripper + subtask_index: 12 + - subtask: Place the blue bowl on the table with the right gripper + subtask_index: 13 + - subtask: Place the eggplant on the table with the right gripper + subtask_index: 14 + - subtask: 'Place the blue blackboard earser on the table with the right gripper + + ' + subtask_index: 15 + - subtask: 'Place the blue blackboard earser on the table with the right gripper + + ' + subtask_index: 16 + - subtask: 'Place the orange on the table with the right gripper + + ' + subtask_index: 17 + - subtask: 'Place the blue bowl on the table with the right gripper + + ' + subtask_index: 18 + - subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 19 + - subtask: 'Grasp the cyan cup with the right gripper ' + subtask_index: 20 + - subtask: Place the compasses on the table with the right gripper + subtask_index: 21 + - subtask: Grasp the compasses with the right gripper + subtask_index: 22 + - subtask: 'Grasp the green lemon with the right gripper + + ' + subtask_index: 23 + - subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 24 + - subtask: 'Place the wallfe on the table with the left gripper + + ' + subtask_index: 25 + - subtask: 'Place the blue bowl on the table with the left gripper + + ' + subtask_index: 26 + - subtask: Grasp the fruit candy with the left gripper + subtask_index: 27 + - subtask: Grasp the orange with the right gripper + subtask_index: 28 + - subtask: Place the green lemon on the table with the right gripper + subtask_index: 29 + - subtask: 'Grasp the cyan cup with the right gripper + + ' + subtask_index: 30 + - subtask: 'Grasp the wallfe with the right gripper + + ' + subtask_index: 31 + - subtask: 'Grasp the green lemon with the left gripper + + ' + subtask_index: 32 + - subtask: 'Place the white blackboard earser on the table with the right gripper + + ' + subtask_index: 33 + - subtask: ' + + Grasp the green lemon with the right gripper' + subtask_index: 34 + - subtask: 'Grasp the square chewing gun with the left gripper + + ' + subtask_index: 35 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 36 + - subtask: 'Grasp the with cyan cup the left gripper + + ' + subtask_index: 37 + - subtask: Place the blue bowl on the table with the left gripper + subtask_index: 38 + - subtask: 'Grasp the tea[ot with the left gripper + + ' + subtask_index: 39 + - subtask: 'Grasp the cyan cup with the right gripper ' + subtask_index: 40 + - subtask: 'Place the wallfe on the table with the right gripper + + ' + subtask_index: 41 + - subtask: 'Place the pen container on the table with the right gripper + + ' + subtask_index: 42 + - subtask: Place the eggplant on the table with the left gripper + subtask_index: 43 + - subtask: 'Grasp the hard facial cleanser with the right gripper + + ' + subtask_index: 44 + - subtask: 'Place the ornage on the table with the right gripper + + ' + subtask_index: 45 + - subtask: 'Grasp the pen container with the left gripper + + ' + subtask_index: 46 + - subtask: Place the fruit candy on the table with the left gripper + subtask_index: 47 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 48 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 49 + - subtask: 'Grasp the blue blackboard earser with the right gripper ' + subtask_index: 50 + - subtask: Grasp the mangosteen with the left gripper + subtask_index: 51 + - subtask: 'Place the square chewing gun on the table with the right gripper + + ' + subtask_index: 52 + - subtask: 'Grasp the brown towel with the left gripper + + ' + subtask_index: 53 + - subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 54 + - subtask: 'Grasp the brown towel with the right gripper mangosteen + + ' + subtask_index: 55 + - subtask: 'Grasp the blue bowl with the right gripper + + ' + subtask_index: 56 + - subtask: Place the teapot on the table with the left gripper + subtask_index: 57 + - subtask: 'Grasp the blue cup with the left gripper + + ' + subtask_index: 58 + - subtask: Grasp the teacup with the right gripper + subtask_index: 59 + - subtask: Grasp the square chewing gun with the right gripper + subtask_index: 60 + - subtask: Grasp the teapot with the right gripper + subtask_index: 61 + - subtask: Place the pink towel on the table with the left gripper + subtask_index: 62 + - subtask: Grasp the blue bowl with the left gripper + subtask_index: 63 + - subtask: Place the waffle on the table with the right gripper + subtask_index: 64 + - subtask: Place the pen container on the table with the right gripper + subtask_index: 65 + - subtask: Place the mangosteen on the table with the right gripper + subtask_index: 66 + - subtask: 'Grasp the pen container with the left gripper + + ' + subtask_index: 67 + - subtask: Grasp the eggplant with the right gripper + subtask_index: 68 + - subtask: 'Grasp the white blackboard earser with the right gripper ' + subtask_index: 69 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 70 + - subtask: 'Place the eggplant on the table with the left gripper + + ' + subtask_index: 71 + - subtask: Grasp the eggplant with the left gripper + subtask_index: 72 + - subtask: Place the hard facial cleanser on the table with the left gripper + subtask_index: 73 + - subtask: 'Grasp the hard facial cleanser with the right gripper ' + subtask_index: 74 + - subtask: 'Grasp the mangosteen with the left gripper + + ' + subtask_index: 75 + - subtask: 'Place the mangosteen on the table with the right gripper + + ' + subtask_index: 76 + - subtask: End + subtask_index: 77 + - subtask: 'Grasp the wallfe with the right gripper ' + subtask_index: 78 + - subtask: Grasp the white blackboard erasure with the right gripper + subtask_index: 79 + - subtask: Grasp the blue blackboard erasure with the left gripper + subtask_index: 80 + - subtask: 'Grasp the white blackboard earser with the right gripper + + ' + subtask_index: 81 + - subtask: 'Place the orange on the table with the left gripper + + ' + subtask_index: 82 + - subtask: Place the fruit candy on the table with the right gripper + subtask_index: 83 + - subtask: 'Grasp the brown towel with the right gripper + + ' + subtask_index: 84 + - subtask: 'Grasp the orange with the left gripper + + ' + subtask_index: 85 + - subtask: 'Place the compass on the table with the right gripper + + ' + subtask_index: 86 + - subtask: 'Grasp the tea cup with the left gripper + + ' + subtask_index: 87 + - subtask: 'Place the hard facial cleanser on the table with the left gripper + + ' + subtask_index: 88 + - subtask: 'Place the brown towel on the table with the right gripper + + ' + subtask_index: 89 + - subtask: 'Grasp the eggplant with the left gripper + + ' + subtask_index: 90 + - subtask: Place the pen container on the table with the left gripper + subtask_index: 91 + - subtask: 'Grasp the white blackboard earser with the right gripper + + ' + subtask_index: 92 + - subtask: 'Grasp the square chewing gun with the right gripper ' + subtask_index: 93 + - subtask: 'Place the cyan cup on the table with the left gripper + + ' + subtask_index: 94 + - subtask: Grasp the waffle with the right gripper + subtask_index: 95 + - subtask: Grasp the blue bowl with the right gripper + subtask_index: 96 + - subtask: 'Grasp the square chewing gun with the right gripper ' + subtask_index: 97 + - subtask: 'Place the waffle on the table with the right gripper + + ' + subtask_index: 98 + - subtask: 'Grasp the blue bowl with the right gripper ' + subtask_index: 99 + - subtask: Abnormal + subtask_index: 100 + - subtask: 'Grasp the white blackboard earser with the right gripper mangosteen + + ' + subtask_index: 101 + - subtask: "Grasp the blue towel with the right gripper \ + \ \n" + subtask_index: 102 + - subtask: 'Grasp the brown towel with the right gripper + + ' + subtask_index: 103 + - subtask: 'Place the pen container on the table with the right gripper + + ' + subtask_index: 104 + - subtask: Place the square chewing gum on the table with the right gripper + subtask_index: 105 + - subtask: 'Place the green lemon on the table with the right gripper + + ' + subtask_index: 106 + - subtask: 'Place the chocolate on the table with the right gripper + + ' + subtask_index: 107 + - subtask: 'Grasp the square facial square with the right gripper ' + subtask_index: 108 + - subtask: 'Grasp the teapot with the left gripper + + ' + subtask_index: 109 + - subtask: 'Place the pen container on the table with the left gripper + + ' + subtask_index: 110 + - subtask: 'Place the hard facial earser on the table with the right gripper + + ' + subtask_index: 111 + - subtask: Place the teacup on the table with the left gripper + subtask_index: 112 + - subtask: 'Place the sqaure chewing gun on the table with the right gripper + + ' + subtask_index: 113 + - subtask: 'Place the blue cup on the table with the left gripper + + ' + subtask_index: 114 + - subtask: Place the blue blackboard erasure on the table with the left gripper + subtask_index: 115 + - subtask: 'Grasp the wallfe with the right gripper ' + subtask_index: 116 + - subtask: Grasp the cyan cup with the right gripper + subtask_index: 117 + - subtask: Grasp the pink towel with the left gripper + subtask_index: 118 + - subtask: Grasp the mangosteen with the right gripper + subtask_index: 119 + - subtask: 'Place the cyan cup on the table with the left gripper + + ' + subtask_index: 120 + - subtask: 'Place the wallfe on the table with the right gripper + + ' + subtask_index: 121 + - subtask: 'Grasp the square chewing gun with the left gripper + + ' + subtask_index: 122 + - subtask: 'Grasp the blue bowel with the right gripper ' + subtask_index: 123 + - subtask: Grasp the orange with the left gripper + subtask_index: 124 + - subtask: 'Place the sqaure chewing gun on the table with the right gripper + + ' + subtask_index: 125 + - subtask: 'Grasp the sqaure chewing gun with the right gripper + + ' + subtask_index: 126 + - subtask: Place the orange on the table with the right gripper + subtask_index: 127 + - subtask: 'Place the white blackboard earser on the table with the left gripper + + ' + subtask_index: 128 + - subtask: 'Place the teacup on the table with the left gripper + + ' + subtask_index: 129 + - subtask: Grasp the pen container with the right gripper + subtask_index: 130 + - subtask: 'Grasp the blue blackboard earser with the left gripper + + ' + subtask_index: 131 + - subtask: Place the teapot on the table with the right gripper + subtask_index: 132 + - subtask: 'Grasp the wallfe with the right gripper ' + subtask_index: 133 + - subtask: Place the mangosteen on the table with the left gripper + subtask_index: 134 + - subtask: 'Place the square chewing gun on the table with the left gripper + + ' + subtask_index: 135 + - subtask: Grasp the fruit candy with the right gripper + subtask_index: 136 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 137 + - subtask: 'Grasp the compass with the right gripper + + ' + subtask_index: 138 + - subtask: 'Place the teapot on the table with the left gripper + + ' + subtask_index: 139 + - subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 140 + - subtask: Place the teacup on the table with the right gripper + subtask_index: 141 + - subtask: 'Grasp the eggplant with the right gripper + + ' + subtask_index: 142 + - subtask: 'Grasp the pen container with the right gripper mangosteen + + ' + subtask_index: 143 + - subtask: 'Grasp the mangosteen with the right gripper ' + subtask_index: 144 + - subtask: 'Place the green lemon on the table with the left gripper + + ' + subtask_index: 145 + - subtask: Place the pen containeron the table with the left gripper + subtask_index: 146 + - subtask: Place the white blackboard erasure on the table with the right gripper + subtask_index: 147 + - subtask: 'Grasp the hard facial cleanser with the left gripper + + ' + subtask_index: 148 + - subtask: 'Grasp the whiite blackboard earser with the right gripper + + ' + subtask_index: 149 + - subtask: 'Grasp the wallfe with the left gripper + + ' + subtask_index: 150 + - subtask: 'Grasp the wallfe with the right gripper mangosteen + + ' + subtask_index: 151 + - subtask: 'Grasp the chocolate with the right gripper ' + subtask_index: 152 + - subtask: 'Place the cyan cup on the table with the left gripper + + ' + subtask_index: 153 + - subtask: 'Grasp the cyan cup with the right gripper + + ' + subtask_index: 154 + - subtask: 'Place the green lemon on the table with the right gripper + + ' + subtask_index: 155 + - subtask: Place the chocolate on the table with the left gripper + subtask_index: 156 + - subtask: 'Grasp the cyan cup with the right gripper mangosteen + + ' + subtask_index: 157 + - subtask: 'Grasp the eggplant with the right gripper ' + subtask_index: 158 + - subtask: 'Grasp the white blackboard earser with the left gripper + + ' + subtask_index: 159 + - subtask: 'Place the hard facial cleanser on the table with the right gripper + + ' + subtask_index: 160 + - subtask: 'Place the blue blackboard earser on the table with the left gripper + + ' + subtask_index: 161 + - subtask: 'Place the eggplant on the table with the right gripper + + ' + subtask_index: 162 + - subtask: 'Grasp the chocolate with the right gripper + + ' + subtask_index: 163 + - subtask: Grasp the chocolate with the left gripper + subtask_index: 164 + - subtask: Place the orange on the table with the left gripper + subtask_index: 165 + - subtask: Grasp the XX with the left gripper + subtask_index: 166 + - subtask: Place the pen container on the table with the left gripper + subtask_index: 167 + - subtask: Place the chocolate on the table with the right gripper + subtask_index: 168 + - subtask: Place the white blackboard earser on the table with the left gripper + subtask_index: 169 + - subtask: 'Grasp the chocolate with the left gripper + + ' + subtask_index: 170 + - subtask: Grasp the pen container with the left gripper + subtask_index: 171 + - subtask: 'Place the sqaure chewing gun on the table with the left gripper + + ' + subtask_index: 172 + - subtask: 'Place the tea cup on the table with the left gripper + + ' + subtask_index: 173 + - subtask: 'Place the chocolate on the table with the right gripper + + ' + subtask_index: 174 + - subtask: 'Grasp the teacup with the left gripper + + ' + subtask_index: 175 + - subtask: Place the square chewing gum on the table with the left gripper + subtask_index: 176 + - subtask: 'Grasp the brown towel with the right gripper ' + subtask_index: 177 + - subtask: Grasp the teapot with the left gripper + subtask_index: 178 + - subtask: Grasp the teacup with the left gripper + subtask_index: 179 + - subtask: 'Place the chocolate on the table with the left gripper + + ' + subtask_index: 180 + - subtask: 'Place the cyan cup on the table with the right gripper + + ' + subtask_index: 181 + - subtask: 'null' + subtask_index: 182 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 85405 + dataset_size: 5.33 GB + data_structure: 'Agilex_Cobot_Magic_move_object_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml index 530c160186fa5199c69a85cae26275908d40f0bd..e76c6d89086de615621dfa0d45a7675c113f641b 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_object_red_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -213,273 +213,144 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the gripper move the object. +task_result: 'null' +task_instruction: the gripper move the object. sub_tasks: -- subtask: Grasp the pink towel with the right gripper - subtask_index: 0 -- subtask: Place the XX on the table with the left gripper - subtask_index: 1 -- subtask: Place the mint candy on the table with the left gripper - subtask_index: 2 -- subtask: Place the snickers on the table with the right gripper - subtask_index: 3 -- subtask: Grasp the pen container with the right gripper - subtask_index: 4 -- subtask: Grasp the grey towel with the left gripper - subtask_index: 5 -- subtask: Place the eyeglass case on the table with the left gripper - subtask_index: 6 -- subtask: Grasp the white duck with the left gripper - subtask_index: 7 -- subtask: Place the eggplant on the table with the right gripper - subtask_index: 8 -- subtask: Place the blue bowl on the table with the right gripper - subtask_index: 9 -- subtask: Grasp the banana with the left gripper - subtask_index: 10 -- subtask: Place the compasses on the table with the right gripper - subtask_index: 11 -- subtask: Place the sandwich on the table with the left gripper - subtask_index: 12 -- subtask: Place the pink cake on the table with the right gripper - subtask_index: 13 -- subtask: Place the banana on the table with the right gripper - subtask_index: 14 -- subtask: Grasp the compasses with the right gripper - subtask_index: 15 -- subtask: Grasp the orange with the right gripper - subtask_index: 16 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 17 -- subtask: Place the peach on the table with the right gripper - subtask_index: 18 -- subtask: Place the green lemon on the table with the right gripper - subtask_index: 19 -- subtask: Grasp the mint candy with the left gripper - subtask_index: 20 -- subtask: Grasp the sandwich with the right gripper - subtask_index: 21 -- subtask: Grasp the eyeglass case with the left gripper - subtask_index: 22 -- subtask: Place the compasses on the table with the left gripper - subtask_index: 23 -- subtask: Place the eyeglass case on the table with the right gripper - subtask_index: 24 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 25 -- subtask: Place the brown towel on the table with the left gripper - subtask_index: 26 -- subtask: Place the blue bowl on the table with the left gripper - subtask_index: 27 -- subtask: Grasp the sandwich biscuit with the right gripper - subtask_index: 28 -- subtask: Place the white blackboard erasure on the table with the left gripper - subtask_index: 29 -- subtask: Grasp the white blackboard erasure with the left gripper - subtask_index: 30 -- subtask: Grasp the snickers with the right gripper - subtask_index: 31 -- subtask: Grasp the eyeglass case with the right gripper - subtask_index: 32 -- subtask: Place the eggplant on the table with the left gripper - subtask_index: 33 -- subtask: Place the mango on the table with the right gripper - subtask_index: 34 -- subtask: Place the hard facial cleanser on the table with the right gripper - subtask_index: 35 -- subtask: Place the mint candy on the table with the right gripper - subtask_index: 36 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 37 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 38 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 39 -- subtask: Grasp the mangosteen with the left gripper - subtask_index: 40 -- subtask: Grasp the peach with the right gripper - subtask_index: 41 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 42 -- subtask: Grasp the mango with the left gripper - subtask_index: 43 -- subtask: Place the snickers on the table with the left gripper - subtask_index: 44 -- subtask: Grasp the snickers with the left gripper - subtask_index: 45 -- subtask: Grasp the lemon with the left gripper - subtask_index: 46 -- subtask: Place the teapot on the table with the left gripper - subtask_index: 47 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 48 -- subtask: Grasp the sandwich with the left gripper - subtask_index: 49 -- subtask: Place the white duck on the table with the left gripper - subtask_index: 50 -- subtask: Place the white duck on the table with the right gripper - subtask_index: 51 -- subtask: Grasp the teapot with the right gripper - subtask_index: 52 -- subtask: Place the pink towel on the table with the left gripper - subtask_index: 53 -- subtask: Grasp the hollow ring bread with the right gripper - subtask_index: 54 -- subtask: 'Grasp the hollow ring bread with the right gripper - - ' - subtask_index: 55 -- subtask: Grasp the blue bowl with the left gripper - subtask_index: 56 -- subtask: Place the waffle on the table with the right gripper - subtask_index: 57 -- subtask: Place the pen container on the table with the right gripper - subtask_index: 58 -- subtask: Place the mangosteen on the table with the right gripper - subtask_index: 59 -- subtask: Grasp the eggplant with the right gripper - subtask_index: 60 -- subtask: Grasp the pink cake with the left gripper - subtask_index: 61 -- subtask: Grasp the gray towel with the right gripper - subtask_index: 62 -- subtask: Place the pink towel on the table with the right gripper - subtask_index: 63 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 64 -- subtask: Place the green lemon on the table with the left gripper - subtask_index: 65 -- subtask: Grasp the eggplant with the left gripper - subtask_index: 66 -- subtask: Place the hard facial cleanser on the table with the left gripper - subtask_index: 67 -- subtask: Place the lemon on the table with the left gripper - subtask_index: 68 -- subtask: End - subtask_index: 69 -- subtask: Grasp the white duck with the right gripper - subtask_index: 70 -- subtask: Grasp the white blackboard erasure with the right gripper - subtask_index: 71 -- subtask: Grasp the blue blackboard erasure with the left gripper - subtask_index: 72 -- subtask: Place the sandwich biscuit on the table with the right gripper - subtask_index: 73 -- subtask: Place the sandwich on the table with the right gripper - subtask_index: 74 -- subtask: Place the fruit candy on the table with the right gripper - subtask_index: 75 -- subtask: Place the gray towel on the table with the right gripper - subtask_index: 76 -- subtask: Place the blue cup on the table with the right gripper - subtask_index: 77 -- subtask: Place the pen container on the table with the left gripper - subtask_index: 78 -- subtask: Grasp the compasses with the left gripper - subtask_index: 79 -- subtask: Grasp the waffle with the right gripper - subtask_index: 80 -- subtask: Grasp the blue bowl with the right gripper - subtask_index: 81 -- subtask: Place the pink cake on the table with the left gripper - subtask_index: 82 -- subtask: Abnormal - subtask_index: 83 -- subtask: Place the square chewing gum on the table with the right gripper - subtask_index: 84 -- subtask: Place the blue blackboard erasure on the table with the left gripper - subtask_index: 85 -- subtask: Grasp the pink towel with the left gripper - subtask_index: 86 -- subtask: Grasp the mangosteen with the right gripper - subtask_index: 87 -- subtask: Place the grey towel on the table with the left gripper - subtask_index: 88 -- subtask: Grasp the orange with the left gripper - subtask_index: 89 -- subtask: Place the hollow ring bread on the table with the right gripper - subtask_index: 90 -- subtask: Place the blue cup on the table with the left gripper - subtask_index: 91 -- subtask: Place the orange on the table with the right gripper - subtask_index: 92 -- subtask: Place the teapot on the table with the right gripper - subtask_index: 93 -- subtask: Place the mangosteen on the table with the left gripper - subtask_index: 94 -- subtask: Grasp the fruit candy with the right gripper - subtask_index: 95 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 96 -- subtask: Place the white blackboard erasure on the table with the right gripper - subtask_index: 97 -- subtask: Grasp the pink cake with the right gripper - subtask_index: 98 -- subtask: Place the mango on the table with the left gripper - subtask_index: 99 -- subtask: Place the chocolate on the table with the left gripper - subtask_index: 100 -- subtask: 'Place the hollow ring bread on the table with the right gripper - - ' - subtask_index: 101 -- subtask: Grasp the blue blackboard erasure with the right gripper - subtask_index: 102 -- subtask: Place the banana on the table with the left gripper - subtask_index: 103 -- subtask: 'Place the hard facial cleanser on the table with the right gripper - - ' - subtask_index: 104 -- subtask: Place the blue blackboard erasure on the table with the right gripper - subtask_index: 105 -- subtask: Grasp the chocolate with the left gripper - subtask_index: 106 -- subtask: Grasp the mango with the right gripper - subtask_index: 107 -- subtask: Place the orange on the table with the left gripper - subtask_index: 108 -- subtask: Grasp the XX with the left gripper - subtask_index: 109 -- subtask: Place the chocolate on the table with the right gripper - subtask_index: 110 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 111 -- subtask: Grasp the mint candy with the right gripper - subtask_index: 112 -- subtask: Place the brown towel on the table with the right gripper - subtask_index: 113 -- subtask: Grasp the pen container with the left gripper - subtask_index: 114 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 115 -- subtask: Grasp the tea cup with the left gripper - subtask_index: 116 -- subtask: Place the tea cup on the table with the left gripper - subtask_index: 117 -- subtask: Place the square chewing gum on the table with the left gripper - subtask_index: 118 -- subtask: Grasp the teapot with the left gripper - subtask_index: 119 -- subtask: Grasp the banana with the right gripper - subtask_index: 120 -- subtask: 'null' - subtask_index: 121 +- Grasp the pink towel with the right gripper +- Place the XX on the table with the left gripper +- Place the mint candy on the table with the left gripper +- Place the snickers on the table with the right gripper +- Grasp the pen container with the right gripper +- Grasp the grey towel with the left gripper +- Place the eyeglass case on the table with the left gripper +- Grasp the white duck with the left gripper +- Place the eggplant on the table with the right gripper +- Place the blue bowl on the table with the right gripper +- Grasp the banana with the left gripper +- Place the compasses on the table with the right gripper +- Place the sandwich on the table with the left gripper +- Place the pink cake on the table with the right gripper +- Place the banana on the table with the right gripper +- Grasp the compasses with the right gripper +- Grasp the orange with the right gripper +- Grasp the blue cup with the left gripper +- Place the peach on the table with the right gripper +- Place the green lemon on the table with the right gripper +- Grasp the mint candy with the left gripper +- Grasp the sandwich with the right gripper +- Grasp the eyeglass case with the left gripper +- Place the compasses on the table with the left gripper +- Place the eyeglass case on the table with the right gripper +- Grasp the square chewing gum with the left gripper +- Place the brown towel on the table with the left gripper +- Place the blue bowl on the table with the left gripper +- Grasp the sandwich biscuit with the right gripper +- Place the white blackboard erasure on the table with the left gripper +- Grasp the white blackboard erasure with the left gripper +- Grasp the snickers with the right gripper +- Grasp the eyeglass case with the right gripper +- Place the eggplant on the table with the left gripper +- Place the mango on the table with the right gripper +- Place the hard facial cleanser on the table with the right gripper +- Place the mint candy on the table with the right gripper +- Grasp the brown towel with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the chocolate with the right gripper +- Grasp the mangosteen with the left gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Grasp the mango with the left gripper +- Place the snickers on the table with the left gripper +- Grasp the snickers with the left gripper +- Grasp the lemon with the left gripper +- Place the teapot on the table with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Grasp the sandwich with the left gripper +- Place the white duck on the table with the left gripper +- Place the white duck on the table with the right gripper +- Grasp the teapot with the right gripper +- Place the pink towel on the table with the left gripper +- Grasp the hollow ring bread with the right gripper +- Grasp the hollow ring bread with the right gripper +- Grasp the blue bowl with the left gripper +- Place the waffle on the table with the right gripper +- Place the pen container on the table with the right gripper +- Place the mangosteen on the table with the right gripper +- Grasp the eggplant with the right gripper +- Grasp the pink cake with the left gripper +- Grasp the gray towel with the right gripper +- Place the pink towel on the table with the right gripper +- Grasp the green lemon with the right gripper +- Place the green lemon on the table with the left gripper +- Grasp the eggplant with the left gripper +- Place the hard facial cleanser on the table with the left gripper +- Place the lemon on the table with the left gripper +- End +- Grasp the white duck with the right gripper +- Grasp the white blackboard erasure with the right gripper +- Grasp the blue blackboard erasure with the left gripper +- Place the sandwich biscuit on the table with the right gripper +- Place the sandwich on the table with the right gripper +- Place the fruit candy on the table with the right gripper +- Place the gray towel on the table with the right gripper +- Place the blue cup on the table with the right gripper +- Place the pen container on the table with the left gripper +- Grasp the compasses with the left gripper +- Grasp the waffle with the right gripper +- Grasp the blue bowl with the right gripper +- Place the pink cake on the table with the left gripper +- Abnormal +- Place the square chewing gum on the table with the right gripper +- Place the blue blackboard erasure on the table with the left gripper +- Grasp the pink towel with the left gripper +- Grasp the mangosteen with the right gripper +- Place the grey towel on the table with the left gripper +- Grasp the orange with the left gripper +- Place the hollow ring bread on the table with the right gripper +- Place the blue cup on the table with the left gripper +- Place the orange on the table with the right gripper +- Place the teapot on the table with the right gripper +- Place the mangosteen on the table with the left gripper +- Grasp the fruit candy with the right gripper +- Grasp the square chewing gum with the right gripper +- Place the white blackboard erasure on the table with the right gripper +- Grasp the pink cake with the right gripper +- Place the mango on the table with the left gripper +- Place the chocolate on the table with the left gripper +- Place the hollow ring bread on the table with the right gripper +- Grasp the blue blackboard erasure with the right gripper +- Place the banana on the table with the left gripper +- Place the hard facial cleanser on the table with the right gripper +- Place the blue blackboard erasure on the table with the right gripper +- Grasp the chocolate with the left gripper +- Grasp the mango with the right gripper +- Place the orange on the table with the left gripper +- Grasp the XX with the left gripper +- Place the chocolate on the table with the right gripper +- Grasp the blue cup with the right gripper +- Grasp the mint candy with the right gripper +- Place the brown towel on the table with the right gripper +- Grasp the pen container with the left gripper +- Grasp the green lemon with the left gripper +- Grasp the tea cup with the left gripper +- Place the tea cup on the table with the left gripper +- Place the square chewing gum on the table with the left gripper +- Grasp the teapot with the left gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - rasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -487,10 +358,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -498,7 +372,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 198 total_frames: 100817 fps: 30 @@ -599,9 +474,11 @@ data_structure: 'Agilex_Cobot_Magic_move_object_red_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:197 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -874,7 +751,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -882,6 +759,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -908,6 +786,443 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_object_red_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial & convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the gripper move the object. + sub_tasks: + - subtask: Grasp the pink towel with the right gripper + subtask_index: 0 + - subtask: Place the XX on the table with the left gripper + subtask_index: 1 + - subtask: Place the mint candy on the table with the left gripper + subtask_index: 2 + - subtask: Place the snickers on the table with the right gripper + subtask_index: 3 + - subtask: Grasp the pen container with the right gripper + subtask_index: 4 + - subtask: Grasp the grey towel with the left gripper + subtask_index: 5 + - subtask: Place the eyeglass case on the table with the left gripper + subtask_index: 6 + - subtask: Grasp the white duck with the left gripper + subtask_index: 7 + - subtask: Place the eggplant on the table with the right gripper + subtask_index: 8 + - subtask: Place the blue bowl on the table with the right gripper + subtask_index: 9 + - subtask: Grasp the banana with the left gripper + subtask_index: 10 + - subtask: Place the compasses on the table with the right gripper + subtask_index: 11 + - subtask: Place the sandwich on the table with the left gripper + subtask_index: 12 + - subtask: Place the pink cake on the table with the right gripper + subtask_index: 13 + - subtask: Place the banana on the table with the right gripper + subtask_index: 14 + - subtask: Grasp the compasses with the right gripper + subtask_index: 15 + - subtask: Grasp the orange with the right gripper + subtask_index: 16 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 17 + - subtask: Place the peach on the table with the right gripper + subtask_index: 18 + - subtask: Place the green lemon on the table with the right gripper + subtask_index: 19 + - subtask: Grasp the mint candy with the left gripper + subtask_index: 20 + - subtask: Grasp the sandwich with the right gripper + subtask_index: 21 + - subtask: Grasp the eyeglass case with the left gripper + subtask_index: 22 + - subtask: Place the compasses on the table with the left gripper + subtask_index: 23 + - subtask: Place the eyeglass case on the table with the right gripper + subtask_index: 24 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 25 + - subtask: Place the brown towel on the table with the left gripper + subtask_index: 26 + - subtask: Place the blue bowl on the table with the left gripper + subtask_index: 27 + - subtask: Grasp the sandwich biscuit with the right gripper + subtask_index: 28 + - subtask: Place the white blackboard erasure on the table with the left gripper + subtask_index: 29 + - subtask: Grasp the white blackboard erasure with the left gripper + subtask_index: 30 + - subtask: Grasp the snickers with the right gripper + subtask_index: 31 + - subtask: Grasp the eyeglass case with the right gripper + subtask_index: 32 + - subtask: Place the eggplant on the table with the left gripper + subtask_index: 33 + - subtask: Place the mango on the table with the right gripper + subtask_index: 34 + - subtask: Place the hard facial cleanser on the table with the right gripper + subtask_index: 35 + - subtask: Place the mint candy on the table with the right gripper + subtask_index: 36 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 37 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 38 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 39 + - subtask: Grasp the mangosteen with the left gripper + subtask_index: 40 + - subtask: Grasp the peach with the right gripper + subtask_index: 41 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 42 + - subtask: Grasp the mango with the left gripper + subtask_index: 43 + - subtask: Place the snickers on the table with the left gripper + subtask_index: 44 + - subtask: Grasp the snickers with the left gripper + subtask_index: 45 + - subtask: Grasp the lemon with the left gripper + subtask_index: 46 + - subtask: Place the teapot on the table with the left gripper + subtask_index: 47 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 48 + - subtask: Grasp the sandwich with the left gripper + subtask_index: 49 + - subtask: Place the white duck on the table with the left gripper + subtask_index: 50 + - subtask: Place the white duck on the table with the right gripper + subtask_index: 51 + - subtask: Grasp the teapot with the right gripper + subtask_index: 52 + - subtask: Place the pink towel on the table with the left gripper + subtask_index: 53 + - subtask: Grasp the hollow ring bread with the right gripper + subtask_index: 54 + - subtask: 'Grasp the hollow ring bread with the right gripper + + ' + subtask_index: 55 + - subtask: Grasp the blue bowl with the left gripper + subtask_index: 56 + - subtask: Place the waffle on the table with the right gripper + subtask_index: 57 + - subtask: Place the pen container on the table with the right gripper + subtask_index: 58 + - subtask: Place the mangosteen on the table with the right gripper + subtask_index: 59 + - subtask: Grasp the eggplant with the right gripper + subtask_index: 60 + - subtask: Grasp the pink cake with the left gripper + subtask_index: 61 + - subtask: Grasp the gray towel with the right gripper + subtask_index: 62 + - subtask: Place the pink towel on the table with the right gripper + subtask_index: 63 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 64 + - subtask: Place the green lemon on the table with the left gripper + subtask_index: 65 + - subtask: Grasp the eggplant with the left gripper + subtask_index: 66 + - subtask: Place the hard facial cleanser on the table with the left gripper + subtask_index: 67 + - subtask: Place the lemon on the table with the left gripper + subtask_index: 68 + - subtask: End + subtask_index: 69 + - subtask: Grasp the white duck with the right gripper + subtask_index: 70 + - subtask: Grasp the white blackboard erasure with the right gripper + subtask_index: 71 + - subtask: Grasp the blue blackboard erasure with the left gripper + subtask_index: 72 + - subtask: Place the sandwich biscuit on the table with the right gripper + subtask_index: 73 + - subtask: Place the sandwich on the table with the right gripper + subtask_index: 74 + - subtask: Place the fruit candy on the table with the right gripper + subtask_index: 75 + - subtask: Place the gray towel on the table with the right gripper + subtask_index: 76 + - subtask: Place the blue cup on the table with the right gripper + subtask_index: 77 + - subtask: Place the pen container on the table with the left gripper + subtask_index: 78 + - subtask: Grasp the compasses with the left gripper + subtask_index: 79 + - subtask: Grasp the waffle with the right gripper + subtask_index: 80 + - subtask: Grasp the blue bowl with the right gripper + subtask_index: 81 + - subtask: Place the pink cake on the table with the left gripper + subtask_index: 82 + - subtask: Abnormal + subtask_index: 83 + - subtask: Place the square chewing gum on the table with the right gripper + subtask_index: 84 + - subtask: Place the blue blackboard erasure on the table with the left gripper + subtask_index: 85 + - subtask: Grasp the pink towel with the left gripper + subtask_index: 86 + - subtask: Grasp the mangosteen with the right gripper + subtask_index: 87 + - subtask: Place the grey towel on the table with the left gripper + subtask_index: 88 + - subtask: Grasp the orange with the left gripper + subtask_index: 89 + - subtask: Place the hollow ring bread on the table with the right gripper + subtask_index: 90 + - subtask: Place the blue cup on the table with the left gripper + subtask_index: 91 + - subtask: Place the orange on the table with the right gripper + subtask_index: 92 + - subtask: Place the teapot on the table with the right gripper + subtask_index: 93 + - subtask: Place the mangosteen on the table with the left gripper + subtask_index: 94 + - subtask: Grasp the fruit candy with the right gripper + subtask_index: 95 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 96 + - subtask: Place the white blackboard erasure on the table with the right gripper + subtask_index: 97 + - subtask: Grasp the pink cake with the right gripper + subtask_index: 98 + - subtask: Place the mango on the table with the left gripper + subtask_index: 99 + - subtask: Place the chocolate on the table with the left gripper + subtask_index: 100 + - subtask: 'Place the hollow ring bread on the table with the right gripper + + ' + subtask_index: 101 + - subtask: Grasp the blue blackboard erasure with the right gripper + subtask_index: 102 + - subtask: Place the banana on the table with the left gripper + subtask_index: 103 + - subtask: 'Place the hard facial cleanser on the table with the right gripper + + ' + subtask_index: 104 + - subtask: Place the blue blackboard erasure on the table with the right gripper + subtask_index: 105 + - subtask: Grasp the chocolate with the left gripper + subtask_index: 106 + - subtask: Grasp the mango with the right gripper + subtask_index: 107 + - subtask: Place the orange on the table with the left gripper + subtask_index: 108 + - subtask: Grasp the XX with the left gripper + subtask_index: 109 + - subtask: Place the chocolate on the table with the right gripper + subtask_index: 110 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 111 + - subtask: Grasp the mint candy with the right gripper + subtask_index: 112 + - subtask: Place the brown towel on the table with the right gripper + subtask_index: 113 + - subtask: Grasp the pen container with the left gripper + subtask_index: 114 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 115 + - subtask: Grasp the tea cup with the left gripper + subtask_index: 116 + - subtask: Place the tea cup on the table with the left gripper + subtask_index: 117 + - subtask: Place the square chewing gum on the table with the left gripper + subtask_index: 118 + - subtask: Grasp the teapot with the left gripper + subtask_index: 119 + - subtask: Grasp the banana with the right gripper + subtask_index: 120 + - subtask: 'null' + subtask_index: 121 + atomic_actions: + - rasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 100817 + dataset_size: 3.23 GB + data_structure: 'Agilex_Cobot_Magic_move_object_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (186 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml index 6bb1986c832ab7ab12abb829354c4d048b4bfae0..be4762d3e4138414b3772bec8cc1e780d61e37e6 100644 --- a/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml +++ b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -69,35 +69,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Place the pencil sharpener on the left side of the stapler. +task_result: 'null' +task_instruction: Place the pencil sharpener on the left side of the stapler. sub_tasks: -- subtask: Place the pencil sharpener to the left of the stapler with the left gripper - subtask_index: 0 -- subtask: Grasp the pencil sharpene with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the pencil sharpene with the left gripper - subtask_index: 3 -- subtask: Place the pencil sharpener to the left of the stapler with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the pencil sharpener to the left of the stapler with the left gripper +- Grasp the pencil sharpene with the right gripper +- End +- Grasp the pencil sharpene with the left gripper +- Place the pencil sharpener to the left of the stapler with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -105,10 +98,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -116,7 +112,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 41602 fps: 30 @@ -217,9 +214,11 @@ data_structure: 'Agilex_Cobot_Magic_move_pencil_sharpener_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -492,7 +491,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -500,6 +499,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -526,6 +526,206 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_move_pencil_sharpener + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Place the pencil sharpener on the left side of the stapler. + sub_tasks: + - subtask: Place the pencil sharpener to the left of the stapler with the left gripper + subtask_index: 0 + - subtask: Grasp the pencil sharpene with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the pencil sharpene with the left gripper + subtask_index: 3 + - subtask: Place the pencil sharpener to the left of the stapler with the right + gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 41602 + dataset_size: 374.66 MB + data_structure: 'Agilex_Cobot_Magic_move_pencil_sharpener_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml b/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml index 6f0240fe37f8c158ea055b670ab89c51910da9bf..de40b31fb7af0744e19694ddd2c86792e40eec3f 100644 --- a/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml +++ b/dataset_info/Agilex_Cobot_Magic_open_drawer_bottom.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,36 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the bottom drawer. +task_result: 'null' +task_instruction: open the bottom drawer. sub_tasks: -- subtask: end - subtask_index: 0 -- subtask: Pull open the drawer with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Grab the bottom drawer with the right gripper - subtask_index: 3 -- subtask: Pull open the drawer with the right gripper - subtask_index: 4 -- subtask: Grab the bottom drawer with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- end +- Pull open the drawer with the left gripper +- Abnormal +- Grab the bottom drawer with the right gripper +- Pull open the drawer with the right gripper +- Grab the bottom drawer with the left gripper +- 'null' atomic_actions: - grasp - pull -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -82,10 +74,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -93,7 +88,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 18620 fps: 30 @@ -194,9 +190,11 @@ data_structure: 'Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -469,7 +467,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -477,6 +475,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -503,6 +502,206 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_open_drawer_bottom + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the bottom drawer. + sub_tasks: + - subtask: end + subtask_index: 0 + - subtask: Pull open the drawer with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Grab the bottom drawer with the right gripper + subtask_index: 3 + - subtask: Pull open the drawer with the right gripper + subtask_index: 4 + - subtask: Grab the bottom drawer with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pull + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 18620 + dataset_size: 182.16 MB + data_structure: 'Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml b/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml index fd12adab78fa6a9366d31d2207843a32ab4ede17..e6ec6dfe494331198e028f65e06f6047a98420a1 100644 --- a/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml +++ b/dataset_info/Agilex_Cobot_Magic_organize_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,35 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Put the test tube on the table back onto the test tube rack. +task_result: 'null' +task_instruction: Put the test tube on the table back onto the test tube rack. sub_tasks: -- subtask: Place the test tube on the test tube rack with the left gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Pick up the test tube with the right gripper - subtask_index: 2 -- subtask: Move the test tube from the right gripper to the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the test tube on the test tube rack with the left gripper +- Abnormal +- Pick up the test tube with the right gripper +- Move the test tube from the right gripper to the left gripper +- End +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +80,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 197 total_frames: 159747 fps: 30 @@ -183,9 +180,11 @@ data_structure: 'Agilex_Cobot_Magic_organize_test_tube_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:196 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -458,7 +457,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -466,6 +465,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -492,6 +492,189 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_organize_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Put the test tube on the table back onto the test tube rack. + sub_tasks: + - subtask: Place the test tube on the test tube rack with the left gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Pick up the test tube with the right gripper + subtask_index: 2 + - subtask: Move the test tube from the right gripper to the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 159747 + dataset_size: 1.92 GB + data_structure: 'Agilex_Cobot_Magic_organize_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml index fd652059e6d93e030a8edf0e411c723a3a26a83e..bbb6fc68e8d9c0d663820bd7b593d506afc5e30f 100644 --- a/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml +++ b/dataset_info/Agilex_Cobot_Magic_pour_drink_bottle_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,70 +51,47 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to hold the bottle of the drink and pour it into a random cup. +task_result: 'null' +task_instruction: use a gripper to hold the bottle of the drink and pour it into a + random cup. sub_tasks: -- subtask: Pour the cranberry juice into the cyan cup with the right gripper - subtask_index: 0 -- subtask: Pour the cranberry juice into the paper cup with the right gripper - subtask_index: 1 -- subtask: end - subtask_index: 2 -- subtask: Pour the cranberry juice into the White Plastic Cup with the left gripper - subtask_index: 3 -- subtask: Place the mineral water bottle on the table with the left gripper - subtask_index: 4 -- subtask: Pour the mineral water into the paper cup with the left gripper - subtask_index: 5 -- subtask: Grasp the mineral water bottle with the left gripper - subtask_index: 6 -- subtask: Pour the cranberry juice into the cyan cup with the left gripper - subtask_index: 7 -- subtask: Pour the cranberry juice into the White Plastic Cup with the right gripper - subtask_index: 8 -- subtask: Abnormal - subtask_index: 9 -- subtask: Pour the mineral water into the glass with the right gripper - subtask_index: 10 -- subtask: Place the cranberry juice bottle on the table with the right gripper - subtask_index: 11 -- subtask: Pour the cranberry juice into the paper cup with the left gripper - subtask_index: 12 -- subtask: Grasp the cranberry juice bottle with the right gripper - subtask_index: 13 -- subtask: Pour the mineral water into the cyan cup with the left gripper - subtask_index: 14 -- subtask: Grasp the cranberry juice bottle with the left gripper - subtask_index: 15 -- subtask: Place the cranberry juice bottle on the table with the left gripper - subtask_index: 16 -- subtask: Place the mineral water bottle on the table with the right gripper - subtask_index: 17 -- subtask: Grasp the mineral water bottle with the right gripper - subtask_index: 18 -- subtask: Pour the mineral water into the cyan cup with the right gripper - subtask_index: 19 -- subtask: Pour the mineral water into the paper cup with the right gripper - subtask_index: 20 -- subtask: Pour the mineral water into the glass with the left gripper - subtask_index: 21 -- subtask: 'null' - subtask_index: 22 +- Pour the cranberry juice into the cyan cup with the right gripper +- Pour the cranberry juice into the paper cup with the right gripper +- end +- Pour the cranberry juice into the White Plastic Cup with the left gripper +- Place the mineral water bottle on the table with the left gripper +- Pour the mineral water into the paper cup with the left gripper +- Grasp the mineral water bottle with the left gripper +- Pour the cranberry juice into the cyan cup with the left gripper +- Pour the cranberry juice into the White Plastic Cup with the right gripper +- Abnormal +- Pour the mineral water into the glass with the right gripper +- Place the cranberry juice bottle on the table with the right gripper +- Pour the cranberry juice into the paper cup with the left gripper +- Grasp the cranberry juice bottle with the right gripper +- Pour the mineral water into the cyan cup with the left gripper +- Grasp the cranberry juice bottle with the left gripper +- Place the cranberry juice bottle on the table with the left gripper +- Place the mineral water bottle on the table with the right gripper +- Grasp the mineral water bottle with the right gripper +- Pour the mineral water into the cyan cup with the right gripper +- Pour the mineral water into the paper cup with the right gripper +- Pour the mineral water into the glass with the left gripper +- 'null' atomic_actions: - grasp - lift - pour - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -122,10 +99,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -133,7 +113,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 195 total_frames: 201530 fps: 30 @@ -218,9 +199,11 @@ data_structure: 'Agilex_Cobot_Magic_pour_drink_bottle_cup_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:194 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -493,7 +476,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -501,6 +484,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -527,6 +511,224 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_pour_drink_bottle_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to hold the bottle of the drink and pour it into a random cup. + sub_tasks: + - subtask: Pour the cranberry juice into the cyan cup with the right gripper + subtask_index: 0 + - subtask: Pour the cranberry juice into the paper cup with the right gripper + subtask_index: 1 + - subtask: end + subtask_index: 2 + - subtask: Pour the cranberry juice into the White Plastic Cup with the left gripper + subtask_index: 3 + - subtask: Place the mineral water bottle on the table with the left gripper + subtask_index: 4 + - subtask: Pour the mineral water into the paper cup with the left gripper + subtask_index: 5 + - subtask: Grasp the mineral water bottle with the left gripper + subtask_index: 6 + - subtask: Pour the cranberry juice into the cyan cup with the left gripper + subtask_index: 7 + - subtask: Pour the cranberry juice into the White Plastic Cup with the right gripper + subtask_index: 8 + - subtask: Abnormal + subtask_index: 9 + - subtask: Pour the mineral water into the glass with the right gripper + subtask_index: 10 + - subtask: Place the cranberry juice bottle on the table with the right gripper + subtask_index: 11 + - subtask: Pour the cranberry juice into the paper cup with the left gripper + subtask_index: 12 + - subtask: Grasp the cranberry juice bottle with the right gripper + subtask_index: 13 + - subtask: Pour the mineral water into the cyan cup with the left gripper + subtask_index: 14 + - subtask: Grasp the cranberry juice bottle with the left gripper + subtask_index: 15 + - subtask: Place the cranberry juice bottle on the table with the left gripper + subtask_index: 16 + - subtask: Place the mineral water bottle on the table with the right gripper + subtask_index: 17 + - subtask: Grasp the mineral water bottle with the right gripper + subtask_index: 18 + - subtask: Pour the mineral water into the cyan cup with the right gripper + subtask_index: 19 + - subtask: Pour the mineral water into the paper cup with the right gripper + subtask_index: 20 + - subtask: Pour the mineral water into the glass with the left gripper + subtask_index: 21 + - subtask: 'null' + subtask_index: 22 + atomic_actions: + - grasp + - lift + - pour + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 201530 + dataset_size: 1.58 GB + data_structure: 'Agilex_Cobot_Magic_pour_drink_bottle_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (183 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml b/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml index 0e2771ea87d3ee33debffd82bddcdd2754720ad4..5fb6e5f4b4ebd53089c3cc59a2385f797b85ef31 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_bread_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,37 +51,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Put the bakery in the basket. +task_result: 'null' +task_instruction: Put the bakery in the basket. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Grasp the bread with right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the bread with left gripper - subtask_index: 3 -- subtask: Place the bread in the basket with right gripper - subtask_index: 4 -- subtask: Place the bread in the basket with left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Abnormal +- Grasp the bread with right gripper +- End +- Grasp the bread with left gripper +- Place the bread in the basket with right gripper +- Place the bread in the basket with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +81,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 32042 fps: 30 @@ -185,9 +181,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -460,7 +458,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -468,6 +466,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -494,6 +493,191 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_bread_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Put the bakery in the basket. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Grasp the bread with right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the bread with left gripper + subtask_index: 3 + - subtask: Place the bread in the basket with right gripper + subtask_index: 4 + - subtask: Place the bread in the basket with left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 32042 + dataset_size: 354.51 MB + data_structure: 'Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml b/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml index 63c8897117d88b0cfe7ece7935fb9068fae6c379..be78f21ddd5476ae84bac4da053049f6b1759aaf 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -63,51 +63,36 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the three fruits on the table into a bowl. +task_result: 'null' +task_instruction: put the three fruits on the table into a bowl. sub_tasks: -- subtask: Grasp the pomegranate with left gripper - subtask_index: 0 -- subtask: Place the pomegranate in the blue bowl with left gripper - subtask_index: 1 -- subtask: Grasp the pomegranate with right gripper - subtask_index: 2 -- subtask: Place the green lemon in the blue bowl with right gripper - subtask_index: 3 -- subtask: Grasp the green lemon with left gripper - subtask_index: 4 -- subtask: Place the pomegranate in the blue bowl with right gripper - subtask_index: 5 -- subtask: Place the mango in the blue bowl with right gripper - subtask_index: 6 -- subtask: Grasp the mango with right gripper - subtask_index: 7 -- subtask: End - subtask_index: 8 -- subtask: Place the mango in the blue bowl with left gripper - subtask_index: 9 -- subtask: Grasp the green lemon with right gripper - subtask_index: 10 -- subtask: Place the green lemon in the blue bowl with left gripper - subtask_index: 11 -- subtask: Grasp the mango with left gripper - subtask_index: 12 -- subtask: 'null' - subtask_index: 13 +- Grasp the pomegranate with left gripper +- Place the pomegranate in the blue bowl with left gripper +- Grasp the pomegranate with right gripper +- Place the green lemon in the blue bowl with right gripper +- Grasp the green lemon with left gripper +- Place the pomegranate in the blue bowl with right gripper +- Place the mango in the blue bowl with right gripper +- Grasp the mango with right gripper +- End +- Place the mango in the blue bowl with left gripper +- Grasp the green lemon with right gripper +- Place the green lemon in the blue bowl with left gripper +- Grasp the mango with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -115,10 +100,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -126,7 +114,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 78670 fps: 30 @@ -211,9 +200,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_fruit_bowl_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -486,7 +477,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -494,6 +485,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -520,6 +512,205 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_fruit_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the three fruits on the table into a bowl. + sub_tasks: + - subtask: Grasp the pomegranate with left gripper + subtask_index: 0 + - subtask: Place the pomegranate in the blue bowl with left gripper + subtask_index: 1 + - subtask: Grasp the pomegranate with right gripper + subtask_index: 2 + - subtask: Place the green lemon in the blue bowl with right gripper + subtask_index: 3 + - subtask: Grasp the green lemon with left gripper + subtask_index: 4 + - subtask: Place the pomegranate in the blue bowl with right gripper + subtask_index: 5 + - subtask: Place the mango in the blue bowl with right gripper + subtask_index: 6 + - subtask: Grasp the mango with right gripper + subtask_index: 7 + - subtask: End + subtask_index: 8 + - subtask: Place the mango in the blue bowl with left gripper + subtask_index: 9 + - subtask: Grasp the green lemon with right gripper + subtask_index: 10 + - subtask: Place the green lemon in the blue bowl with left gripper + subtask_index: 11 + - subtask: Grasp the mango with left gripper + subtask_index: 12 + - subtask: 'null' + subtask_index: 13 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 78670 + dataset_size: 740.83 MB + data_structure: 'Agilex_Cobot_Magic_storage_fruit_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml index 2711ad74df603d389de529a95688ae8a32f1ec6c..97fff2881fc71f94fa662ce4723f20932fec3fec 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -75,43 +75,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Randomly grab green lemon or mangoes from the table and put them in a basket. +task_result: 'null' +task_instruction: Randomly grab green lemon or mangoes from the table and put them + in a basket. sub_tasks: -- subtask: Place the mango into the basket with the right gripper - subtask_index: 0 -- subtask: Grasp the mango with the right gripper - subtask_index: 1 -- subtask: Grasp the Lemon with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Grasp the mango with the left gripper - subtask_index: 4 -- subtask: Place the Lemon into the basket with the left gripper - subtask_index: 5 -- subtask: Place the mango into the basket with the left gripper - subtask_index: 6 -- subtask: Grasp the Lemon with the left gripper - subtask_index: 7 -- subtask: Place the Lemon into the basket with the right gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Place the mango into the basket with the right gripper +- Grasp the mango with the right gripper +- Grasp the Lemon with the right gripper +- End +- Grasp the mango with the left gripper +- Place the Lemon into the basket with the left gripper +- Place the mango into the basket with the left gripper +- Grasp the Lemon with the left gripper +- Place the Lemon into the basket with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -119,10 +109,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -130,7 +123,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 28424 fps: 30 @@ -231,9 +225,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_lemon_mango_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -506,7 +502,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -514,6 +510,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -540,6 +537,213 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_lemon_mango + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Randomly grab green lemon or mangoes from the table and put them in a basket. + sub_tasks: + - subtask: Place the mango into the basket with the right gripper + subtask_index: 0 + - subtask: Grasp the mango with the right gripper + subtask_index: 1 + - subtask: Grasp the Lemon with the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Grasp the mango with the left gripper + subtask_index: 4 + - subtask: Place the Lemon into the basket with the left gripper + subtask_index: 5 + - subtask: Place the mango into the basket with the left gripper + subtask_index: 6 + - subtask: Grasp the Lemon with the left gripper + subtask_index: 7 + - subtask: Place the Lemon into the basket with the right gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 28424 + dataset_size: 362.05 MB + data_structure: 'Agilex_Cobot_Magic_storage_lemon_mango_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object.yaml index 2b745a4661de3feb9c082d49d0068d1ea36f6cd5..5117ca725023e559f9cffe48099ac145ad94d5a0 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_object.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_object.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_table_cloths level1: laboratory_supplies level2: white_table_cloths @@ -363,308 +363,164 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up an item with a gripper and place it in a random container on the table. +task_result: 'null' +task_instruction: pick up an item with a gripper and place it in a random container + on the table. sub_tasks: -- subtask: Grasp the pink towel with the right gripper - subtask_index: 0 -- subtask: Place the XX into the purple pot with the left gripper - subtask_index: 1 -- subtask: Grasp the yellow lemon with the right gripper - subtask_index: 2 -- subtask: Grasp the AD milk with the left gripper - subtask_index: 3 -- subtask: Place the plush banana into the pink bowl with the left gripper - subtask_index: 4 -- subtask: Place the beer into the purple pot with the right gripper - subtask_index: 5 -- subtask: Place the green lemon into the pink bowl with the right gripper - subtask_index: 6 -- subtask: Grasp the red bull with the right gripper - subtask_index: 7 -- subtask: Grasp the beer with the right gripper - subtask_index: 8 -- subtask: Place the hollow ring bread into the red pot with the left gripper - subtask_index: 9 -- subtask: Grasp the banana with the left gripper - subtask_index: 10 -- subtask: Place the yellow lemon into the pink bowl with the left gripper - subtask_index: 11 -- subtask: Place the yellow lemon into the blue bowl with the right gripper - subtask_index: 12 -- subtask: Grasp the pink laundry detergent with the left gripper - subtask_index: 13 -- subtask: Place the eggplant into the purple pot with the right gripper - subtask_index: 14 -- subtask: Grasp the apple with the right gripper - subtask_index: 15 -- subtask: Place the peach into the red pot with the left gripper - subtask_index: 16 -- subtask: Place the red bull into the blue bowl with the left gripper - subtask_index: 17 -- subtask: Place the blue garbage bag into the pen container with the right gripper - subtask_index: 18 -- subtask: Grasp the shampoo with the right gripper - subtask_index: 19 -- subtask: Place the plush banana into the pink bowl with the right gripper - subtask_index: 20 -- subtask: Place the banana into the red pot with the left gripper - subtask_index: 21 -- subtask: Place the apple into the red pot with the left gripper - subtask_index: 22 -- subtask: Place the round chewing gum into the pen container with the left gripper - subtask_index: 23 -- subtask: Place the beer into the pink pot with the left gripper - subtask_index: 24 -- subtask: Place the yellow cake into the pink bowl with the left gripper - subtask_index: 25 -- subtask: Place the tin into the red pot with the right gripper - subtask_index: 26 -- subtask: Place the blue garbage bag into the purple pot with the left gripper - subtask_index: 27 -- subtask: Place the croissant into the purple pot with the right gripper - subtask_index: 28 -- subtask: Place the shampoo into the blue bowl with the left gripper - subtask_index: 29 -- subtask: Grasp the yellow lemon with the left gripper - subtask_index: 30 -- subtask: Place the eyeglass case into the purple pot with the right gripper - subtask_index: 31 -- subtask: Grasp the white blackboard erasure with the left gripper - subtask_index: 32 -- subtask: Place the yogurt into the pink bowl with the right gripper - subtask_index: 33 -- subtask: Place the blue garbage bag into the pink pot with the right gripper - subtask_index: 34 -- subtask: Place the green lemon into the blue bowl with the left gripper - subtask_index: 35 -- subtask: Place the apple into the pink pot with the left gripper - subtask_index: 36 -- subtask: Grasp the eyeglass case with the right gripper - subtask_index: 37 -- subtask: Place the yellow cake into the blue bowl with the left gripper - subtask_index: 38 -- subtask: Place the red bull into the pen container with the right gripper - subtask_index: 39 -- subtask: Place the croissant into the pink bowl with the left gripper - subtask_index: 40 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 41 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 42 -- subtask: Grasp the croissant with the left gripper - subtask_index: 43 -- subtask: Grasp the tin with the left gripper - subtask_index: 44 -- subtask: Grasp the long bread with the right gripper - subtask_index: 45 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 46 -- subtask: Place the mango into the pink bowl with the left gripper - subtask_index: 47 -- subtask: Grasp the plush banana with the left gripper - subtask_index: 48 -- subtask: Place the pink laundry detergent into the pen container with the left - gripper - subtask_index: 49 -- subtask: Place the soft facial cleanser into the pink bowl with the right gripper - subtask_index: 50 -- subtask: Grasp the peach with the right gripper - subtask_index: 51 -- subtask: Grasp the mango with the left gripper - subtask_index: 52 -- subtask: Place the round chewing gum into the pink pot with the left gripper - subtask_index: 53 -- subtask: Place the white blackboard erasure into the pink bowl with the left gripper - subtask_index: 54 -- subtask: Place the peach into the pink bowl with the left gripper - subtask_index: 55 -- subtask: Grasp the pear with the left gripper - subtask_index: 56 -- subtask: Place the tin into the pink pot with the left gripper - subtask_index: 57 -- subtask: Place the cleaning agent into the pen container with the left gripper - subtask_index: 58 -- subtask: Place the shampoo into the blue bowl with the right gripper - subtask_index: 59 -- subtask: Grasp the hollow ring bread with the right gripper - subtask_index: 60 -- subtask: Place the shower sphere into the pink bowl with the right gripper - subtask_index: 61 -- subtask: Place the pear into the purple pot with the left gripper - subtask_index: 62 -- subtask: Place the round chewing gum into the pen container with the right gripper - subtask_index: 63 -- subtask: Grasp the peach with the left gripper - subtask_index: 64 -- subtask: Grasp the long bread with the left gripper - subtask_index: 65 -- subtask: Grasp the eggplant with the right gripper - subtask_index: 66 -- subtask: Place the blue garbage bag into the pink bowl with the right gripper - subtask_index: 67 -- subtask: Place the croissant into the red pot with the left gripper - subtask_index: 68 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 69 -- subtask: Place the beer into the blue bowl with the left gripper - subtask_index: 70 -- subtask: Place the shampoo into the purple pot with the right gripper - subtask_index: 71 -- subtask: Grasp the shampoo with the left gripper - subtask_index: 72 -- subtask: Place the pink towel into the red pot with the left gripper - subtask_index: 73 -- subtask: Place the peach into the purple pot with the right gripper - subtask_index: 74 -- subtask: End - subtask_index: 75 -- subtask: Place the mint candy into the pink bowl with the right gripper - subtask_index: 76 -- subtask: Place the eggplant into the pen container with the right gripper - subtask_index: 77 -- subtask: Grasp the beer with the left gripper - subtask_index: 78 -- subtask: Place the AD milk into the pen container with the left gripper - subtask_index: 79 -- subtask: Place the banana into the pink bowl with the left gripper - subtask_index: 80 -- subtask: 'Grasp the tin with the right gripper - - ' - subtask_index: 81 -- subtask: Place the tin into the pink pot with the right gripper - subtask_index: 82 -- subtask: Place the AD milk into the pink pot with the left gripper - subtask_index: 83 -- subtask: Place the shower sphere into the purple pot with the right gripper - subtask_index: 84 -- subtask: Place the long bread into the red pot with the left gripper - subtask_index: 85 -- subtask: Grasp the yellow cake with the right gripper - subtask_index: 86 -- subtask: Grasp the croissant with the right gripper - subtask_index: 87 -- subtask: Grasp the red bull with the left gripper - subtask_index: 88 -- subtask: Place the peach into the pink bowl with the right gripper - subtask_index: 89 -- subtask: Place the tin into the pen container with the right gripper - subtask_index: 90 -- subtask: Place the long bread into the purple pot with the right gripper - subtask_index: 91 -- subtask: Place the orange into the pink pot with the left gripper - subtask_index: 92 -- subtask: Place the yellow cake into the blue bowl with the right gripper - subtask_index: 93 -- subtask: Grasp the pink towel with the left gripper - subtask_index: 94 -- subtask: Place the croissant into the pink bowl with the right gripper - subtask_index: 95 -- subtask: Place the hard facial cleanser into the pink bowl with the left gripper - subtask_index: 96 -- subtask: Place the round chewing gum into the red pot with the right gripper - subtask_index: 97 -- subtask: Grasp the blue garbage bag with the right gripper - subtask_index: 98 -- subtask: Grasp the tin with the right gripper - subtask_index: 99 -- subtask: Grasp the orange with the left gripper - subtask_index: 100 -- subtask: Grasp the blue garbage bag with the left gripper - subtask_index: 101 -- subtask: Place the shower sphere into the pink bowl with the left gripper - subtask_index: 102 -- subtask: Place the yogurt into the red pot with the right gripper - subtask_index: 103 -- subtask: Place the peach into the pink pot with the right gripper - subtask_index: 104 -- subtask: Grasp the hollow ring bread with the left gripper - subtask_index: 105 -- subtask: Grasp the apple with the left gripper - subtask_index: 106 -- subtask: Place the tin into the red pot with the left gripper - subtask_index: 107 -- subtask: Place the beer into the red pot with the left gripper - subtask_index: 108 -- subtask: Place the blue garbage bag into the pink bowl with the left gripper - subtask_index: 109 -- subtask: Place the mango into the purple pot with the right gripper - subtask_index: 110 -- subtask: Place the tin into the blue bowl with the left gripper - subtask_index: 111 -- subtask: Place the apple into the blue bowl with the left gripper - subtask_index: 112 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 113 -- subtask: Place the red bull into the pink bowl with the left gripper - subtask_index: 114 -- subtask: Grasp the yellow cake with the left gripper - subtask_index: 115 -- subtask: Grasp the round chewing gum with the right gripper - subtask_index: 116 -- subtask: Grasp the cleaning agent with the left gripper - subtask_index: 117 -- subtask: Place the coke into the pink pot with the left gripper - subtask_index: 118 -- subtask: Place the pink towelinto the pink bowl with the right gripper - subtask_index: 119 -- subtask: Grasp the round chewing gum with the left gripper - subtask_index: 120 -- subtask: Place the green lemon into the purple pot with the left gripper - subtask_index: 121 -- subtask: Place the hollow ring bread into the purple pot with the right gripper - subtask_index: 122 -- subtask: Place the peach into the purple pot with the left gripper - subtask_index: 123 -- subtask: Place the yellow cake into the pen container with the right gripper - subtask_index: 124 -- subtask: Place the apple into the pink pot with the right gripper - subtask_index: 125 -- subtask: Place the red bull into the pink pot with the right gripper - subtask_index: 126 -- subtask: Place the tin into the purple pot with the left gripper - subtask_index: 127 -- subtask: Place the yellow lemon into the pink bowl with the right gripper - subtask_index: 128 -- subtask: Grasp the mango with the right gripper - subtask_index: 129 -- subtask: Place the banana into the red pot with the right gripper - subtask_index: 130 -- subtask: Grasp the mint candy with the right gripper - subtask_index: 131 -- subtask: Place the apple into the pink bowl with the left gripper - subtask_index: 132 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 133 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 134 -- subtask: Place the red bull into the red pot with the left gripper - subtask_index: 135 -- subtask: Grasp the coke with the left gripper - subtask_index: 136 -- subtask: Place the cleaning agent into the pink bowl with the left gripper - subtask_index: 137 -- subtask: Grasp the banana with the right gripper - subtask_index: 138 -- subtask: Grasp the plush banana with the right gripper - subtask_index: 139 -- subtask: 'null' - subtask_index: 140 +- Grasp the pink towel with the right gripper +- Place the XX into the purple pot with the left gripper +- Grasp the yellow lemon with the right gripper +- Grasp the AD milk with the left gripper +- Place the plush banana into the pink bowl with the left gripper +- Place the beer into the purple pot with the right gripper +- Place the green lemon into the pink bowl with the right gripper +- Grasp the red bull with the right gripper +- Grasp the beer with the right gripper +- Place the hollow ring bread into the red pot with the left gripper +- Grasp the banana with the left gripper +- Place the yellow lemon into the pink bowl with the left gripper +- Place the yellow lemon into the blue bowl with the right gripper +- Grasp the pink laundry detergent with the left gripper +- Place the eggplant into the purple pot with the right gripper +- Grasp the apple with the right gripper +- Place the peach into the red pot with the left gripper +- Place the red bull into the blue bowl with the left gripper +- Place the blue garbage bag into the pen container with the right gripper +- Grasp the shampoo with the right gripper +- Place the plush banana into the pink bowl with the right gripper +- Place the banana into the red pot with the left gripper +- Place the apple into the red pot with the left gripper +- Place the round chewing gum into the pen container with the left gripper +- Place the beer into the pink pot with the left gripper +- Place the yellow cake into the pink bowl with the left gripper +- Place the tin into the red pot with the right gripper +- Place the blue garbage bag into the purple pot with the left gripper +- Place the croissant into the purple pot with the right gripper +- Place the shampoo into the blue bowl with the left gripper +- Grasp the yellow lemon with the left gripper +- Place the eyeglass case into the purple pot with the right gripper +- Grasp the white blackboard erasure with the left gripper +- Place the yogurt into the pink bowl with the right gripper +- Place the blue garbage bag into the pink pot with the right gripper +- Place the green lemon into the blue bowl with the left gripper +- Place the apple into the pink pot with the left gripper +- Grasp the eyeglass case with the right gripper +- Place the yellow cake into the blue bowl with the left gripper +- Place the red bull into the pen container with the right gripper +- Place the croissant into the pink bowl with the left gripper +- Grasp the shower sphere with the left gripper +- Grasp the yogurt with the right gripper +- Grasp the croissant with the left gripper +- Grasp the tin with the left gripper +- Grasp the long bread with the right gripper +- Grasp the hard facial cleanser with the left gripper +- Place the mango into the pink bowl with the left gripper +- Grasp the plush banana with the left gripper +- Place the pink laundry detergent into the pen container with the left gripper +- Place the soft facial cleanser into the pink bowl with the right gripper +- Grasp the peach with the right gripper +- Grasp the mango with the left gripper +- Place the round chewing gum into the pink pot with the left gripper +- Place the white blackboard erasure into the pink bowl with the left gripper +- Place the peach into the pink bowl with the left gripper +- Grasp the pear with the left gripper +- Place the tin into the pink pot with the left gripper +- Place the cleaning agent into the pen container with the left gripper +- Place the shampoo into the blue bowl with the right gripper +- Grasp the hollow ring bread with the right gripper +- Place the shower sphere into the pink bowl with the right gripper +- Place the pear into the purple pot with the left gripper +- Place the round chewing gum into the pen container with the right gripper +- Grasp the peach with the left gripper +- Grasp the long bread with the left gripper +- Grasp the eggplant with the right gripper +- Place the blue garbage bag into the pink bowl with the right gripper +- Place the croissant into the red pot with the left gripper +- Grasp the green lemon with the right gripper +- Place the beer into the blue bowl with the left gripper +- Place the shampoo into the purple pot with the right gripper +- Grasp the shampoo with the left gripper +- Place the pink towel into the red pot with the left gripper +- Place the peach into the purple pot with the right gripper +- End +- Place the mint candy into the pink bowl with the right gripper +- Place the eggplant into the pen container with the right gripper +- Grasp the beer with the left gripper +- Place the AD milk into the pen container with the left gripper +- Place the banana into the pink bowl with the left gripper +- Grasp the tin with the right gripper +- Place the tin into the pink pot with the right gripper +- Place the AD milk into the pink pot with the left gripper +- Place the shower sphere into the purple pot with the right gripper +- Place the long bread into the red pot with the left gripper +- Grasp the yellow cake with the right gripper +- Grasp the croissant with the right gripper +- Grasp the red bull with the left gripper +- Place the peach into the pink bowl with the right gripper +- Place the tin into the pen container with the right gripper +- Place the long bread into the purple pot with the right gripper +- Place the orange into the pink pot with the left gripper +- Place the yellow cake into the blue bowl with the right gripper +- Grasp the pink towel with the left gripper +- Place the croissant into the pink bowl with the right gripper +- Place the hard facial cleanser into the pink bowl with the left gripper +- Place the round chewing gum into the red pot with the right gripper +- Grasp the blue garbage bag with the right gripper +- Grasp the tin with the right gripper +- Grasp the orange with the left gripper +- Grasp the blue garbage bag with the left gripper +- Place the shower sphere into the pink bowl with the left gripper +- Place the yogurt into the red pot with the right gripper +- Place the peach into the pink pot with the right gripper +- Grasp the hollow ring bread with the left gripper +- Grasp the apple with the left gripper +- Place the tin into the red pot with the left gripper +- Place the beer into the red pot with the left gripper +- Place the blue garbage bag into the pink bowl with the left gripper +- Place the mango into the purple pot with the right gripper +- Place the tin into the blue bowl with the left gripper +- Place the apple into the blue bowl with the left gripper +- Grasp the shower sphere with the right gripper +- Place the red bull into the pink bowl with the left gripper +- Grasp the yellow cake with the left gripper +- Grasp the round chewing gum with the right gripper +- Grasp the cleaning agent with the left gripper +- Place the coke into the pink pot with the left gripper +- Place the pink towelinto the pink bowl with the right gripper +- Grasp the round chewing gum with the left gripper +- Place the green lemon into the purple pot with the left gripper +- Place the hollow ring bread into the purple pot with the right gripper +- Place the peach into the purple pot with the left gripper +- Place the yellow cake into the pen container with the right gripper +- Place the apple into the pink pot with the right gripper +- Place the red bull into the pink pot with the right gripper +- Place the tin into the purple pot with the left gripper +- Place the yellow lemon into the pink bowl with the right gripper +- Grasp the mango with the right gripper +- Place the banana into the red pot with the right gripper +- Grasp the mint candy with the right gripper +- Place the apple into the pink bowl with the left gripper +- Grasp the soft facial cleanser with the right gripper +- Grasp the green lemon with the left gripper +- Place the red bull into the red pot with the left gripper +- Grasp the coke with the left gripper +- Place the cleaning agent into the pink bowl with the left gripper +- Grasp the banana with the right gripper +- Grasp the plush banana with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -672,10 +528,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -683,7 +542,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 49237 fps: 30 @@ -784,9 +644,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_object_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -1059,7 +921,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -1067,6 +929,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -1093,6 +956,478 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_object + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up an item with a gripper and place it in a random container on the table. + sub_tasks: + - subtask: Grasp the pink towel with the right gripper + subtask_index: 0 + - subtask: Place the XX into the purple pot with the left gripper + subtask_index: 1 + - subtask: Grasp the yellow lemon with the right gripper + subtask_index: 2 + - subtask: Grasp the AD milk with the left gripper + subtask_index: 3 + - subtask: Place the plush banana into the pink bowl with the left gripper + subtask_index: 4 + - subtask: Place the beer into the purple pot with the right gripper + subtask_index: 5 + - subtask: Place the green lemon into the pink bowl with the right gripper + subtask_index: 6 + - subtask: Grasp the red bull with the right gripper + subtask_index: 7 + - subtask: Grasp the beer with the right gripper + subtask_index: 8 + - subtask: Place the hollow ring bread into the red pot with the left gripper + subtask_index: 9 + - subtask: Grasp the banana with the left gripper + subtask_index: 10 + - subtask: Place the yellow lemon into the pink bowl with the left gripper + subtask_index: 11 + - subtask: Place the yellow lemon into the blue bowl with the right gripper + subtask_index: 12 + - subtask: Grasp the pink laundry detergent with the left gripper + subtask_index: 13 + - subtask: Place the eggplant into the purple pot with the right gripper + subtask_index: 14 + - subtask: Grasp the apple with the right gripper + subtask_index: 15 + - subtask: Place the peach into the red pot with the left gripper + subtask_index: 16 + - subtask: Place the red bull into the blue bowl with the left gripper + subtask_index: 17 + - subtask: Place the blue garbage bag into the pen container with the right gripper + subtask_index: 18 + - subtask: Grasp the shampoo with the right gripper + subtask_index: 19 + - subtask: Place the plush banana into the pink bowl with the right gripper + subtask_index: 20 + - subtask: Place the banana into the red pot with the left gripper + subtask_index: 21 + - subtask: Place the apple into the red pot with the left gripper + subtask_index: 22 + - subtask: Place the round chewing gum into the pen container with the left gripper + subtask_index: 23 + - subtask: Place the beer into the pink pot with the left gripper + subtask_index: 24 + - subtask: Place the yellow cake into the pink bowl with the left gripper + subtask_index: 25 + - subtask: Place the tin into the red pot with the right gripper + subtask_index: 26 + - subtask: Place the blue garbage bag into the purple pot with the left gripper + subtask_index: 27 + - subtask: Place the croissant into the purple pot with the right gripper + subtask_index: 28 + - subtask: Place the shampoo into the blue bowl with the left gripper + subtask_index: 29 + - subtask: Grasp the yellow lemon with the left gripper + subtask_index: 30 + - subtask: Place the eyeglass case into the purple pot with the right gripper + subtask_index: 31 + - subtask: Grasp the white blackboard erasure with the left gripper + subtask_index: 32 + - subtask: Place the yogurt into the pink bowl with the right gripper + subtask_index: 33 + - subtask: Place the blue garbage bag into the pink pot with the right gripper + subtask_index: 34 + - subtask: Place the green lemon into the blue bowl with the left gripper + subtask_index: 35 + - subtask: Place the apple into the pink pot with the left gripper + subtask_index: 36 + - subtask: Grasp the eyeglass case with the right gripper + subtask_index: 37 + - subtask: Place the yellow cake into the blue bowl with the left gripper + subtask_index: 38 + - subtask: Place the red bull into the pen container with the right gripper + subtask_index: 39 + - subtask: Place the croissant into the pink bowl with the left gripper + subtask_index: 40 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 41 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 42 + - subtask: Grasp the croissant with the left gripper + subtask_index: 43 + - subtask: Grasp the tin with the left gripper + subtask_index: 44 + - subtask: Grasp the long bread with the right gripper + subtask_index: 45 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 46 + - subtask: Place the mango into the pink bowl with the left gripper + subtask_index: 47 + - subtask: Grasp the plush banana with the left gripper + subtask_index: 48 + - subtask: Place the pink laundry detergent into the pen container with the left + gripper + subtask_index: 49 + - subtask: Place the soft facial cleanser into the pink bowl with the right gripper + subtask_index: 50 + - subtask: Grasp the peach with the right gripper + subtask_index: 51 + - subtask: Grasp the mango with the left gripper + subtask_index: 52 + - subtask: Place the round chewing gum into the pink pot with the left gripper + subtask_index: 53 + - subtask: Place the white blackboard erasure into the pink bowl with the left gripper + subtask_index: 54 + - subtask: Place the peach into the pink bowl with the left gripper + subtask_index: 55 + - subtask: Grasp the pear with the left gripper + subtask_index: 56 + - subtask: Place the tin into the pink pot with the left gripper + subtask_index: 57 + - subtask: Place the cleaning agent into the pen container with the left gripper + subtask_index: 58 + - subtask: Place the shampoo into the blue bowl with the right gripper + subtask_index: 59 + - subtask: Grasp the hollow ring bread with the right gripper + subtask_index: 60 + - subtask: Place the shower sphere into the pink bowl with the right gripper + subtask_index: 61 + - subtask: Place the pear into the purple pot with the left gripper + subtask_index: 62 + - subtask: Place the round chewing gum into the pen container with the right gripper + subtask_index: 63 + - subtask: Grasp the peach with the left gripper + subtask_index: 64 + - subtask: Grasp the long bread with the left gripper + subtask_index: 65 + - subtask: Grasp the eggplant with the right gripper + subtask_index: 66 + - subtask: Place the blue garbage bag into the pink bowl with the right gripper + subtask_index: 67 + - subtask: Place the croissant into the red pot with the left gripper + subtask_index: 68 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 69 + - subtask: Place the beer into the blue bowl with the left gripper + subtask_index: 70 + - subtask: Place the shampoo into the purple pot with the right gripper + subtask_index: 71 + - subtask: Grasp the shampoo with the left gripper + subtask_index: 72 + - subtask: Place the pink towel into the red pot with the left gripper + subtask_index: 73 + - subtask: Place the peach into the purple pot with the right gripper + subtask_index: 74 + - subtask: End + subtask_index: 75 + - subtask: Place the mint candy into the pink bowl with the right gripper + subtask_index: 76 + - subtask: Place the eggplant into the pen container with the right gripper + subtask_index: 77 + - subtask: Grasp the beer with the left gripper + subtask_index: 78 + - subtask: Place the AD milk into the pen container with the left gripper + subtask_index: 79 + - subtask: Place the banana into the pink bowl with the left gripper + subtask_index: 80 + - subtask: 'Grasp the tin with the right gripper + + ' + subtask_index: 81 + - subtask: Place the tin into the pink pot with the right gripper + subtask_index: 82 + - subtask: Place the AD milk into the pink pot with the left gripper + subtask_index: 83 + - subtask: Place the shower sphere into the purple pot with the right gripper + subtask_index: 84 + - subtask: Place the long bread into the red pot with the left gripper + subtask_index: 85 + - subtask: Grasp the yellow cake with the right gripper + subtask_index: 86 + - subtask: Grasp the croissant with the right gripper + subtask_index: 87 + - subtask: Grasp the red bull with the left gripper + subtask_index: 88 + - subtask: Place the peach into the pink bowl with the right gripper + subtask_index: 89 + - subtask: Place the tin into the pen container with the right gripper + subtask_index: 90 + - subtask: Place the long bread into the purple pot with the right gripper + subtask_index: 91 + - subtask: Place the orange into the pink pot with the left gripper + subtask_index: 92 + - subtask: Place the yellow cake into the blue bowl with the right gripper + subtask_index: 93 + - subtask: Grasp the pink towel with the left gripper + subtask_index: 94 + - subtask: Place the croissant into the pink bowl with the right gripper + subtask_index: 95 + - subtask: Place the hard facial cleanser into the pink bowl with the left gripper + subtask_index: 96 + - subtask: Place the round chewing gum into the red pot with the right gripper + subtask_index: 97 + - subtask: Grasp the blue garbage bag with the right gripper + subtask_index: 98 + - subtask: Grasp the tin with the right gripper + subtask_index: 99 + - subtask: Grasp the orange with the left gripper + subtask_index: 100 + - subtask: Grasp the blue garbage bag with the left gripper + subtask_index: 101 + - subtask: Place the shower sphere into the pink bowl with the left gripper + subtask_index: 102 + - subtask: Place the yogurt into the red pot with the right gripper + subtask_index: 103 + - subtask: Place the peach into the pink pot with the right gripper + subtask_index: 104 + - subtask: Grasp the hollow ring bread with the left gripper + subtask_index: 105 + - subtask: Grasp the apple with the left gripper + subtask_index: 106 + - subtask: Place the tin into the red pot with the left gripper + subtask_index: 107 + - subtask: Place the beer into the red pot with the left gripper + subtask_index: 108 + - subtask: Place the blue garbage bag into the pink bowl with the left gripper + subtask_index: 109 + - subtask: Place the mango into the purple pot with the right gripper + subtask_index: 110 + - subtask: Place the tin into the blue bowl with the left gripper + subtask_index: 111 + - subtask: Place the apple into the blue bowl with the left gripper + subtask_index: 112 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 113 + - subtask: Place the red bull into the pink bowl with the left gripper + subtask_index: 114 + - subtask: Grasp the yellow cake with the left gripper + subtask_index: 115 + - subtask: Grasp the round chewing gum with the right gripper + subtask_index: 116 + - subtask: Grasp the cleaning agent with the left gripper + subtask_index: 117 + - subtask: Place the coke into the pink pot with the left gripper + subtask_index: 118 + - subtask: Place the pink towelinto the pink bowl with the right gripper + subtask_index: 119 + - subtask: Grasp the round chewing gum with the left gripper + subtask_index: 120 + - subtask: Place the green lemon into the purple pot with the left gripper + subtask_index: 121 + - subtask: Place the hollow ring bread into the purple pot with the right gripper + subtask_index: 122 + - subtask: Place the peach into the purple pot with the left gripper + subtask_index: 123 + - subtask: Place the yellow cake into the pen container with the right gripper + subtask_index: 124 + - subtask: Place the apple into the pink pot with the right gripper + subtask_index: 125 + - subtask: Place the red bull into the pink pot with the right gripper + subtask_index: 126 + - subtask: Place the tin into the purple pot with the left gripper + subtask_index: 127 + - subtask: Place the yellow lemon into the pink bowl with the right gripper + subtask_index: 128 + - subtask: Grasp the mango with the right gripper + subtask_index: 129 + - subtask: Place the banana into the red pot with the right gripper + subtask_index: 130 + - subtask: Grasp the mint candy with the right gripper + subtask_index: 131 + - subtask: Place the apple into the pink bowl with the left gripper + subtask_index: 132 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 133 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 134 + - subtask: Place the red bull into the red pot with the left gripper + subtask_index: 135 + - subtask: Grasp the coke with the left gripper + subtask_index: 136 + - subtask: Place the cleaning agent into the pink bowl with the left gripper + subtask_index: 137 + - subtask: Grasp the banana with the right gripper + subtask_index: 138 + - subtask: Grasp the plush banana with the right gripper + subtask_index: 139 + - subtask: 'null' + subtask_index: 140 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 49237 + dataset_size: 855.52 MB + data_structure: 'Agilex_Cobot_Magic_storage_object_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml index 7a12569bd0154ee76f46fdf2028b682c5a7c2bbe..080ee11f57410da23067ed3be55c5b0c142bb854 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_closest.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -75,59 +75,40 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Place the object closest to the toothpaste in the basket. +task_result: 'null' +task_instruction: Place the object closest to the toothpaste in the basket. sub_tasks: -- subtask: Grasp the shampoo with left gripper - subtask_index: 0 -- subtask: Grasp the soft facial cleanser with right gripper - subtask_index: 1 -- subtask: Place the pink laundry detergent in the basket with right gripper - subtask_index: 2 -- subtask: Place the cleaning agent in the basket with left gripper - subtask_index: 3 -- subtask: Place the shampoo in the basket with right gripper - subtask_index: 4 -- subtask: Grasp the shampoo with right gripper - subtask_index: 5 -- subtask: Place the pink laundry detergent in the basket with left gripper - subtask_index: 6 -- subtask: Place the soft facial cleanser in the basket with right gripper - subtask_index: 7 -- subtask: Grasp the pink laundry detergent with right gripper - subtask_index: 8 -- subtask: Grasp the soft facial cleanser with left gripper - subtask_index: 9 -- subtask: Place the cleaning agent in the basket with right gripper - subtask_index: 10 -- subtask: Place the soft facial cleanser in the basket with left gripper - subtask_index: 11 -- subtask: Grasp the pink laundry detergent with left gripper - subtask_index: 12 -- subtask: Place the shampoo in the basket with left gripper - subtask_index: 13 -- subtask: End - subtask_index: 14 -- subtask: Grasp the cleaning agent with right gripper - subtask_index: 15 -- subtask: Grasp the cleaning agent with left gripper - subtask_index: 16 -- subtask: 'null' - subtask_index: 17 +- Grasp the shampoo with left gripper +- Grasp the soft facial cleanser with right gripper +- Place the pink laundry detergent in the basket with right gripper +- Place the cleaning agent in the basket with left gripper +- Place the shampoo in the basket with right gripper +- Grasp the shampoo with right gripper +- Place the pink laundry detergent in the basket with left gripper +- Place the soft facial cleanser in the basket with right gripper +- Grasp the pink laundry detergent with right gripper +- Grasp the soft facial cleanser with left gripper +- Place the cleaning agent in the basket with right gripper +- Place the soft facial cleanser in the basket with left gripper +- Grasp the pink laundry detergent with left gripper +- Place the shampoo in the basket with left gripper +- End +- Grasp the cleaning agent with right gripper +- Grasp the cleaning agent with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -135,10 +116,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -146,7 +130,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 29779 fps: 30 @@ -247,9 +232,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -522,7 +509,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -530,6 +517,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -556,6 +544,229 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_object_closest + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Place the object closest to the toothpaste in the basket. + sub_tasks: + - subtask: Grasp the shampoo with left gripper + subtask_index: 0 + - subtask: Grasp the soft facial cleanser with right gripper + subtask_index: 1 + - subtask: Place the pink laundry detergent in the basket with right gripper + subtask_index: 2 + - subtask: Place the cleaning agent in the basket with left gripper + subtask_index: 3 + - subtask: Place the shampoo in the basket with right gripper + subtask_index: 4 + - subtask: Grasp the shampoo with right gripper + subtask_index: 5 + - subtask: Place the pink laundry detergent in the basket with left gripper + subtask_index: 6 + - subtask: Place the soft facial cleanser in the basket with right gripper + subtask_index: 7 + - subtask: Grasp the pink laundry detergent with right gripper + subtask_index: 8 + - subtask: Grasp the soft facial cleanser with left gripper + subtask_index: 9 + - subtask: Place the cleaning agent in the basket with right gripper + subtask_index: 10 + - subtask: Place the soft facial cleanser in the basket with left gripper + subtask_index: 11 + - subtask: Grasp the pink laundry detergent with left gripper + subtask_index: 12 + - subtask: Place the shampoo in the basket with left gripper + subtask_index: 13 + - subtask: End + subtask_index: 14 + - subtask: Grasp the cleaning agent with right gripper + subtask_index: 15 + - subtask: Grasp the cleaning agent with left gripper + subtask_index: 16 + - subtask: 'null' + subtask_index: 17 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 29779 + dataset_size: 506.53 MB + data_structure: 'Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml index dc0e21fa7b5487509037ae89917c6828b26bf493..0d0a71ecdf566f220223b7009e0b123e94630b00 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_closest_apple.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -75,59 +75,41 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a picker to grab the item closest to the apple and place it in the basket. +task_result: 'null' +task_instruction: use a picker to grab the item closest to the apple and place it + in the basket. sub_tasks: -- subtask: Grasp the Rubik's Cube with the left gripper - subtask_index: 0 -- subtask: Grasp the chalkboard eraser with the right gripper - subtask_index: 1 -- subtask: Place the chalkboard eraser into the basket with the right gripper - subtask_index: 2 -- subtask: Place the shower sphere into the basket with the left gripper - subtask_index: 3 -- subtask: Place the mango into the basket with the right gripper - subtask_index: 4 -- subtask: Place the Rubik's Cube into the basket with the left gripper - subtask_index: 5 -- subtask: Place the shower sphere into the basket with the right gripper - subtask_index: 6 -- subtask: Grasp the mango with the right gripper - subtask_index: 7 -- subtask: Grasp the Rubik's Cube with the right gripper - subtask_index: 8 -- subtask: End - subtask_index: 9 -- subtask: Place the Rubik's Cube into the basket with the right gripper - subtask_index: 10 -- subtask: Grasp the mango with the left gripper - subtask_index: 11 -- subtask: Place the mango into the basket with the left gripper - subtask_index: 12 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 13 -- subtask: Place the chalkboard eraser into the basket with the left gripper - subtask_index: 14 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 15 -- subtask: Grasp the chalkboard eraser with the left gripper - subtask_index: 16 -- subtask: 'null' - subtask_index: 17 +- Grasp the Rubik's Cube with the left gripper +- Grasp the chalkboard eraser with the right gripper +- Place the chalkboard eraser into the basket with the right gripper +- Place the shower sphere into the basket with the left gripper +- Place the mango into the basket with the right gripper +- Place the Rubik's Cube into the basket with the left gripper +- Place the shower sphere into the basket with the right gripper +- Grasp the mango with the right gripper +- Grasp the Rubik's Cube with the right gripper +- End +- Place the Rubik's Cube into the basket with the right gripper +- Grasp the mango with the left gripper +- Place the mango into the basket with the left gripper +- Grasp the shower sphere with the right gripper +- Place the chalkboard eraser into the basket with the left gripper +- Grasp the shower sphere with the left gripper +- Grasp the chalkboard eraser with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -135,10 +117,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -146,7 +131,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 13231 fps: 30 @@ -247,9 +233,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_object_closest_apple_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -522,7 +510,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -530,6 +518,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -556,6 +545,229 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_object_closest_apple + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a picker to grab the item closest to the apple and place it in the basket. + sub_tasks: + - subtask: Grasp the Rubik's Cube with the left gripper + subtask_index: 0 + - subtask: Grasp the chalkboard eraser with the right gripper + subtask_index: 1 + - subtask: Place the chalkboard eraser into the basket with the right gripper + subtask_index: 2 + - subtask: Place the shower sphere into the basket with the left gripper + subtask_index: 3 + - subtask: Place the mango into the basket with the right gripper + subtask_index: 4 + - subtask: Place the Rubik's Cube into the basket with the left gripper + subtask_index: 5 + - subtask: Place the shower sphere into the basket with the right gripper + subtask_index: 6 + - subtask: Grasp the mango with the right gripper + subtask_index: 7 + - subtask: Grasp the Rubik's Cube with the right gripper + subtask_index: 8 + - subtask: End + subtask_index: 9 + - subtask: Place the Rubik's Cube into the basket with the right gripper + subtask_index: 10 + - subtask: Grasp the mango with the left gripper + subtask_index: 11 + - subtask: Place the mango into the basket with the left gripper + subtask_index: 12 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 13 + - subtask: Place the chalkboard eraser into the basket with the left gripper + subtask_index: 14 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 15 + - subtask: Grasp the chalkboard eraser with the left gripper + subtask_index: 16 + - subtask: 'null' + subtask_index: 17 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 13231 + dataset_size: 189.68 MB + data_structure: 'Agilex_Cobot_Magic_storage_object_closest_apple_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml index 0319c368f0e7f934225913bcc753b9b03f35812b..eebda2b0e1c42805a8b7e644b368c1de4baa46a0 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -75,49 +75,36 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to grab items from the table and place them in the basket. +task_result: 'null' +task_instruction: use the left gripper to grab items from the table and place them + in the basket. sub_tasks: -- subtask: Grasp the Rubik's Cube with the left gripper - subtask_index: 0 -- subtask: Place the Rubik's Cube into the basket with the left gripper - subtask_index: 1 -- subtask: Grasp the apple rubber puff with the left gripper - subtask_index: 2 -- subtask: Grasp the mango with the right gripper - subtask_index: 3 -- subtask: Grasp the Shower puff with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Place the apple rubber puff into the basket with the left gripper - subtask_index: 6 -- subtask: Place the Shower puff into the basket with the left gripper - subtask_index: 7 -- subtask: Grasp the mango with the left gripper - subtask_index: 8 -- subtask: Place the mango into the basket with the left gripper - subtask_index: 9 -- subtask: Place the chalkboard eraser into the basket with the left gripper - subtask_index: 10 -- subtask: Grasp the chalkboard eraser with the left gripper - subtask_index: 11 -- subtask: 'null' - subtask_index: 12 +- Grasp the Rubik's Cube with the left gripper +- Place the Rubik's Cube into the basket with the left gripper +- Grasp the apple rubber puff with the left gripper +- Grasp the mango with the right gripper +- Grasp the Shower puff with the left gripper +- End +- Place the apple rubber puff into the basket with the left gripper +- Place the Shower puff into the basket with the left gripper +- Grasp the mango with the left gripper +- Place the mango into the basket with the left gripper +- Place the chalkboard eraser into the basket with the left gripper +- Grasp the chalkboard eraser with the left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -125,10 +112,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -136,7 +126,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 26742 fps: 30 @@ -237,9 +228,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_object_left_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -512,7 +505,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -520,6 +513,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -546,6 +540,219 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_object_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to grab items from the table and place them in the basket. + sub_tasks: + - subtask: Grasp the Rubik's Cube with the left gripper + subtask_index: 0 + - subtask: Place the Rubik's Cube into the basket with the left gripper + subtask_index: 1 + - subtask: Grasp the apple rubber puff with the left gripper + subtask_index: 2 + - subtask: Grasp the mango with the right gripper + subtask_index: 3 + - subtask: Grasp the Shower puff with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Place the apple rubber puff into the basket with the left gripper + subtask_index: 6 + - subtask: Place the Shower puff into the basket with the left gripper + subtask_index: 7 + - subtask: Grasp the mango with the left gripper + subtask_index: 8 + - subtask: Place the mango into the basket with the left gripper + subtask_index: 9 + - subtask: Place the chalkboard eraser into the basket with the left gripper + subtask_index: 10 + - subtask: Grasp the chalkboard eraser with the left gripper + subtask_index: 11 + - subtask: 'null' + subtask_index: 12 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 26742 + dataset_size: 360.15 MB + data_structure: 'Agilex_Cobot_Magic_storage_object_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml index 05c45e62e8cc4e0c3938e24a34bea651514f6a26..b2e8fa1dfbd1c6cadb01dcda8bff155a91fad452 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_object_red_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: red_table_cloths level1: laboratory_supplies level2: white_table_cloths @@ -363,67 +363,45 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up an item with a gripper and place it in a random container on the desktop. +task_result: 'null' +task_instruction: pick up an item with a gripper and place it in a random container + on the desktop. sub_tasks: -- subtask: Place the XX into the blue bowl with the left gripper - subtask_index: 0 -- subtask: Place the XX into the purple pot with the right gripper - subtask_index: 1 -- subtask: Place the XX into the pink pot with the right gripper - subtask_index: 2 -- subtask: Grasp the XX with the right gripper - subtask_index: 3 -- subtask: Place the XX into the purple pot with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Place the XX into the pink pot with the left gripper - subtask_index: 6 -- subtask: Place the XX into the cyan plate with the right gripper - subtask_index: 7 -- subtask: Place the XX into the cyan plate with the left gripper - subtask_index: 8 -- subtask: Place the XX into the red pot with the left gripper - subtask_index: 9 -- subtask: Place the XX into the pen container with the right gripper - subtask_index: 10 -- subtask: Grasp the XX with the left gripper - subtask_index: 11 -- subtask: Place the XX into the blue bowl with the right gripper - subtask_index: 12 -- subtask: Place the XX into the pink bowl with the left gripper - subtask_index: 13 -- subtask: Place the XX into the red pot with the right gripper - subtask_index: 14 -- subtask: Place the XX into the pink bowl with the right gripper - subtask_index: 15 -- subtask: Place the XX into the white plate with the left gripper - subtask_index: 16 -- subtask: Place the XX into the white plate with the right gripper - subtask_index: 17 -- subtask: Place the XX into the blue plate with the left gripper - subtask_index: 18 -- subtask: Place the XX into the pen container with the left gripper - subtask_index: 19 -- subtask: Place the XX into the blue plate with the right gripper - subtask_index: 20 -- subtask: 'null' - subtask_index: 21 +- Place the XX into the blue bowl with the left gripper +- Place the XX into the purple pot with the right gripper +- Place the XX into the pink pot with the right gripper +- Grasp the XX with the right gripper +- Place the XX into the purple pot with the left gripper +- End +- Place the XX into the pink pot with the left gripper +- Place the XX into the cyan plate with the right gripper +- Place the XX into the cyan plate with the left gripper +- Place the XX into the red pot with the left gripper +- Place the XX into the pen container with the right gripper +- Grasp the XX with the left gripper +- Place the XX into the blue bowl with the right gripper +- Place the XX into the pink bowl with the left gripper +- Place the XX into the red pot with the right gripper +- Place the XX into the pink bowl with the right gripper +- Place the XX into the white plate with the left gripper +- Place the XX into the white plate with the right gripper +- Place the XX into the blue plate with the left gripper +- Place the XX into the pen container with the left gripper +- Place the XX into the blue plate with the right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -431,10 +409,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -442,7 +423,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 200 total_frames: 99000 fps: 30 @@ -543,9 +525,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_object_red_tablecloth_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:199 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -818,7 +802,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -826,6 +810,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -852,6 +837,237 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_object_red_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up an item with a gripper and place it in a random container on the desktop. + sub_tasks: + - subtask: Place the XX into the blue bowl with the left gripper + subtask_index: 0 + - subtask: Place the XX into the purple pot with the right gripper + subtask_index: 1 + - subtask: Place the XX into the pink pot with the right gripper + subtask_index: 2 + - subtask: Grasp the XX with the right gripper + subtask_index: 3 + - subtask: Place the XX into the purple pot with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Place the XX into the pink pot with the left gripper + subtask_index: 6 + - subtask: Place the XX into the cyan plate with the right gripper + subtask_index: 7 + - subtask: Place the XX into the cyan plate with the left gripper + subtask_index: 8 + - subtask: Place the XX into the red pot with the left gripper + subtask_index: 9 + - subtask: Place the XX into the pen container with the right gripper + subtask_index: 10 + - subtask: Grasp the XX with the left gripper + subtask_index: 11 + - subtask: Place the XX into the blue bowl with the right gripper + subtask_index: 12 + - subtask: Place the XX into the pink bowl with the left gripper + subtask_index: 13 + - subtask: Place the XX into the red pot with the right gripper + subtask_index: 14 + - subtask: Place the XX into the pink bowl with the right gripper + subtask_index: 15 + - subtask: Place the XX into the white plate with the left gripper + subtask_index: 16 + - subtask: Place the XX into the white plate with the right gripper + subtask_index: 17 + - subtask: Place the XX into the blue plate with the left gripper + subtask_index: 18 + - subtask: Place the XX into the pen container with the left gripper + subtask_index: 19 + - subtask: Place the XX into the blue plate with the right gripper + subtask_index: 20 + - subtask: 'null' + subtask_index: 21 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 99000 + dataset_size: 2.88 GB + data_structure: 'Agilex_Cobot_Magic_storage_object_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml index cfbba9f565edb73acd422d97f9224b57e42fa316..545860d1feefb105cb900ae80d345203da617e59 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,33 +51,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- left gripper grabs oranges and puts them in the basket. +task_result: 'null' +task_instruction: left gripper grabs oranges and puts them in the basket. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the orange in the basket with left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Grasp the orange with left gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Place the orange in the basket with left gripper +- Abnormal +- Grasp the orange with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +79,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 40181 fps: 30 @@ -197,9 +195,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_left_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -472,7 +472,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -480,6 +480,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -506,6 +507,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_orange_basket_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - left gripper grabs oranges and puts them in the basket. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the orange in the basket with left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Grasp the orange with left gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 40181 + dataset_size: 488.80 MB + data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml index b24318d27848ee1e708a9579aa49228b3baa1195..fe2ba493129f42f8e7d722c18825b5144078b61a 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,33 +51,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the right gripper grabs oranges and puts them into the basket. +task_result: 'null' +task_instruction: the right gripper grabs oranges and puts them into the basket. sub_tasks: -- subtask: Place the orange in the basket with right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Grasp the orange with right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Place the orange in the basket with right gripper +- End +- Abnormal +- Grasp the orange with right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +79,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 22531 fps: 30 @@ -197,9 +195,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_right_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -472,7 +472,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -480,6 +480,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -506,6 +507,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_orange_basket_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the right gripper grabs oranges and puts them into the basket. + sub_tasks: + - subtask: Place the orange in the basket with right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Grasp the orange with right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 22531 + dataset_size: 233.17 MB + data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml index 5277f6a912ec27c56c8be053e164d8111e51ea83..1b9bf828773aa053645638f5841fb1151c84aa71 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,39 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the white linen bag and put the orange in the bag. +task_result: 'null' +task_instruction: open the white linen bag and put the orange in the bag. sub_tasks: -- subtask: Grasp the orange with right gripper - subtask_index: 0 -- subtask: Grasp the orange with left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Lift the handbag with left gripper - subtask_index: 3 -- subtask: Place the orange in the handbag with right gripper - subtask_index: 4 -- subtask: Place the orange in the basket with right gripper - subtask_index: 5 -- subtask: Put down the handbag with left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the orange with right gripper +- Grasp the orange with left gripper +- End +- Lift the handbag with left gripper +- Place the orange in the handbag with right gripper +- Place the orange in the basket with right gripper +- Put down the handbag with left gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +82,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +96,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 43104 fps: 30 @@ -187,9 +182,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_orange_white_bag_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -462,7 +459,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -470,6 +467,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -496,6 +494,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_orange_white_bag + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the white linen bag and put the orange in the bag. + sub_tasks: + - subtask: Grasp the orange with right gripper + subtask_index: 0 + - subtask: Grasp the orange with left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Lift the handbag with left gripper + subtask_index: 3 + - subtask: Place the orange in the handbag with right gripper + subtask_index: 4 + - subtask: Place the orange in the basket with right gripper + subtask_index: 5 + - subtask: Put down the handbag with left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 43104 + dataset_size: 406.02 MB + data_structure: 'Agilex_Cobot_Magic_storage_orange_white_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml index 690f6e3174c97b3b68e97bc5e8adf579cfadf296..b1416c62dc363aa66e716dbfd20be09432c8e859 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_brown_bag.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,35 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the brown linen bag and put the peach in the bag. +task_result: 'null' +task_instruction: open the brown linen bag and put the peach in the bag. sub_tasks: -- subtask: Put down the handbag with left grippe - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the peach in the handbag with right gripper - subtask_index: 2 -- subtask: Lift the handbag with left gripper - subtask_index: 3 -- subtask: Grasp the peach with right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Put down the handbag with left grippe +- End +- Place the peach in the handbag with right gripper +- Lift the handbag with left gripper +- Grasp the peach with right gripper +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +80,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 49252 fps: 30 @@ -183,9 +180,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_peach_brown_bag_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -458,7 +457,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -466,6 +465,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -492,6 +492,189 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_peach_brown_bag + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the brown linen bag and put the peach in the bag. + sub_tasks: + - subtask: Put down the handbag with left grippe + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the peach in the handbag with right gripper + subtask_index: 2 + - subtask: Lift the handbag with left gripper + subtask_index: 3 + - subtask: Grasp the peach with right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 49252 + dataset_size: 568.64 MB + data_structure: 'Agilex_Cobot_Magic_storage_peach_brown_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml index e5efc67d63e8c59dd5497ed8c147ed8f1e484c21..4bc47eacabd6b534d43fd60235e28192794d97c6 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,33 +51,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the peach in the basket with your left . +task_result: 'null' +task_instruction: put the peach in the basket with your left . sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the peach in the basket with left gripper - subtask_index: 1 -- subtask: Grasp the peach with left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Place the peach in the basket with left gripper +- Grasp the peach with left gripper +- Abnormal +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +79,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 21979 fps: 30 @@ -197,9 +195,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_peach_left_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -472,7 +472,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -480,6 +480,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -506,6 +507,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_peach_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the peach in the basket with your left . + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the peach in the basket with left gripper + subtask_index: 1 + - subtask: Grasp the peach with left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 21979 + dataset_size: 264.71 MB + data_structure: 'Agilex_Cobot_Magic_storage_peach_left_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml b/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml index dd836e05259cf5847532d1d647e4bb792f21a5c5..732be1eda8c2e71ad470fe00c0f0ba33e71add72 100644 --- a/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml +++ b/dataset_info/Agilex_Cobot_Magic_storage_peach_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,33 +51,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the peach in the basket with right arm. +task_result: 'null' +task_instruction: put the peach in the basket with right arm. sub_tasks: -- subtask: Grasp the peach with right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the peach in the basket with right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Grasp the peach with right gripper +- End +- Place the peach in the basket with right gripper +- Abnormal +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Agilex_Cobot_Magic +robot_name: Agilex_Cobot_Magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +79,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 25876 fps: 30 @@ -197,9 +195,11 @@ data_structure: 'Agilex_Cobot_Magic_storage_peach_right_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -472,7 +472,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -480,6 +480,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -506,6 +507,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Agilex_Cobot_Magic_storage_peach_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the peach in the basket with right arm. + sub_tasks: + - subtask: Grasp the peach with right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the peach in the basket with right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Agilex_Cobot_Magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 25876 + dataset_size: 277.18 MB + data_structure: 'Agilex_Cobot_Magic_storage_peach_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- backup + + | |-- data + + | | `-- chunk-000 + + | `-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_click_pen.yaml b/dataset_info/Airbot_MMK2_click_pen.yaml index d9264e7b9e5e64c5dc750d79fba3bcd2554f3edc..88cf2e2bf0a985acec1c2243d6696726b4c2bf80 100644 --- a/dataset_info/Airbot_MMK2_click_pen.yaml +++ b/dataset_info/Airbot_MMK2_click_pen.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,39 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pen with your hand, press the pen switch and then place it on the table. +task_result: 'null' +task_instruction: pick up the pen with your hand, press the pen switch and then place + it on the table. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Lift the pen with the right gripper - subtask_index: 1 -- subtask: Grasp the pen with the right gripper - subtask_index: 2 -- subtask: Place the pen on the table with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Press the pen switch with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- End +- Lift the pen with the right gripper +- Grasp the pen with the right gripper +- Place the pen on the table with the right gripper +- Abnormal +- Press the pen switch with the right gripper +- 'null' atomic_actions: - garsp - pick - place - pressbutton -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 30984 fps: 30 @@ -130,9 +127,11 @@ data_structure: "Airbot_MMK2_click_pen_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +436,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_click_pen + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pen with your hand, press the pen switch and then place it on the + table. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Lift the pen with the right gripper + subtask_index: 1 + - subtask: Grasp the pen with the right gripper + subtask_index: 2 + - subtask: Place the pen on the table with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Press the pen switch with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - garsp + - pick + - place + - pressbutton + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 30984 + dataset_size: 1.12 GB + data_structure: "Airbot_MMK2_click_pen_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_close_door_left.yaml b/dataset_info/Airbot_MMK2_close_door_left.yaml index 55f83b6fb225b5f031becaeb3313c1058100174f..f476c81c0461846f290e8d67b8727a5827edca88 100644 --- a/dataset_info/Airbot_MMK2_close_door_left.yaml +++ b/dataset_info/Airbot_MMK2_close_door_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cabinet level1: home_storage level2: cabinet @@ -39,30 +39,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the cabinet door with your left hand. +task_result: 'null' +task_instruction: close the cabinet door with your left hand. sub_tasks: -- subtask: Touch the door with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Close the cupboard door with the left gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- Touch the door with the left gripper +- End +- Close the cupboard door with the left gripper +- 'null' atomic_actions: - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -71,10 +66,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -82,7 +80,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 5322 fps: 30 @@ -110,9 +109,11 @@ data_structure: "Airbot_MMK2_close_door_left_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -382,7 +383,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -390,6 +391,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -416,6 +418,126 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_close_door_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the cabinet door with your left hand. + sub_tasks: + - subtask: Touch the door with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Close the cupboard door with the left gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5322 + dataset_size: 161.77 MB + data_structure: "Airbot_MMK2_close_door_left_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_close_door_right.yaml b/dataset_info/Airbot_MMK2_close_door_right.yaml index c9df6bd1a9fe5fbed7b02091e55904cbb33e93d2..0c72e2eae1c9f96f9394199505621e956d701264 100644 --- a/dataset_info/Airbot_MMK2_close_door_right.yaml +++ b/dataset_info/Airbot_MMK2_close_door_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cabinet level1: home_storage level2: cabinet @@ -39,30 +39,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the cabinet door with your right hand. +task_result: 'null' +task_instruction: close the cabinet door with your right hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Close the cupboard door with the right gripper - subtask_index: 1 -- subtask: Touch the door with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Close the cupboard door with the right gripper +- Touch the door with the right gripper +- 'null' atomic_actions: - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -71,10 +66,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -82,7 +80,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 5437 fps: 30 @@ -110,9 +109,11 @@ data_structure: "Airbot_MMK2_close_door_right_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -382,7 +383,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -390,6 +391,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -416,6 +418,126 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_close_door_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the cabinet door with your right hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Close the cupboard door with the right gripper + subtask_index: 1 + - subtask: Touch the door with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5437 + dataset_size: 148.62 MB + data_structure: "Airbot_MMK2_close_door_right_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_close_doors.yaml b/dataset_info/Airbot_MMK2_close_doors.yaml index e032140723bbad82a21f8fd1990f2d789864f51e..17e87a7d808828080acc135eacd077b825d34775 100644 --- a/dataset_info/Airbot_MMK2_close_doors.yaml +++ b/dataset_info/Airbot_MMK2_close_doors.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cabinet level1: home_storage level2: cabinet @@ -39,34 +39,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the door by hand. +task_result: 'null' +task_instruction: close the door by hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Touch the right cabinet door with the right gripper - subtask_index: 1 -- subtask: Close the door with the right gripper - subtask_index: 2 -- subtask: Touch the left cabinet door with the left gripper - subtask_index: 3 -- subtask: Close the door with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Touch the right cabinet door with the right gripper +- Close the door with the right gripper +- Touch the left cabinet door with the left gripper +- Close the door with the left gripper +- 'null' atomic_actions: - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +68,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +82,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 8141 fps: 30 @@ -113,9 +110,11 @@ data_structure: "Airbot_MMK2_close_doors_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -385,7 +384,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -393,6 +392,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -419,6 +419,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_close_doors + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: studroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the door by hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Touch the right cabinet door with the right gripper + subtask_index: 1 + - subtask: Close the door with the right gripper + subtask_index: 2 + - subtask: Touch the left cabinet door with the left gripper + subtask_index: 3 + - subtask: Close the door with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8141 + dataset_size: 280.57 MB + data_structure: "Airbot_MMK2_close_doors_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_close_drawer.yaml b/dataset_info/Airbot_MMK2_close_drawer.yaml index edce872bef240daac5d072571e5c76de4c8e8052..26d9e9b3cb5c719193e60cdc7b18ec8c07c18dff 100644 --- a/dataset_info/Airbot_MMK2_close_drawer.yaml +++ b/dataset_info/Airbot_MMK2_close_drawer.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: layer_transparent_drawer level1: storage_utensils level2: layer_transparent_drawer @@ -39,28 +39,24 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the top drawer by hand. +task_result: 'null' +task_instruction: close the top drawer by hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Close the top drawer with the right hand - subtask_index: 1 -- subtask: 'null' - subtask_index: 2 +- End +- Close the top drawer with the right hand +- 'null' atomic_actions: - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -69,10 +65,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -80,7 +79,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 7377 fps: 30 @@ -107,9 +107,11 @@ data_structure: "Airbot_MMK2_close_drawer_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -379,7 +381,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -387,6 +389,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -413,6 +416,124 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_close_drawer + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the top drawer by hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Close the top drawer with the right hand + subtask_index: 1 + - subtask: 'null' + subtask_index: 2 + atomic_actions: + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7377 + dataset_size: 217.36 MB + data_structure: "Airbot_MMK2_close_drawer_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_close_lid.yaml b/dataset_info/Airbot_MMK2_close_lid.yaml index c957d53912b8d7f3488033991ef24f4dbe10f0f0..78cbb695be4c8e0109bc7bc7ff969a0217e1b656 100644 --- a/dataset_info/Airbot_MMK2_close_lid.yaml +++ b/dataset_info/Airbot_MMK2_close_lid.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: any_storage_box level1: storage utensils level2: any_storage_box @@ -39,36 +39,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- close the box lid by hand. +task_result: 'null' +task_instruction: close the box lid by hand. sub_tasks: -- subtask: Touch the box lid with the left gripper - subtask_index: 0 -- subtask: Close the box lid with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Touch the box lid with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Close the box lid with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Touch the box lid with the left gripper +- Close the box lid with the left gripper +- End +- Touch the box lid with the right gripper +- Abnormal +- Close the box lid with the right gripper +- 'null' atomic_actions: - close -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -77,10 +69,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -88,7 +83,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 239 total_frames: 28930 fps: 30 @@ -115,9 +111,11 @@ data_structure: "Airbot_MMK2_close_lid_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:238 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -387,7 +385,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -395,6 +393,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -421,6 +420,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_close_lid + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - close the box lid by hand. + sub_tasks: + - subtask: Touch the box lid with the left gripper + subtask_index: 0 + - subtask: Close the box lid with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Touch the box lid with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Close the box lid with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - close + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28930 + dataset_size: 965.25 MB + data_structure: "Airbot_MMK2_close_lid_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (227 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_cover_lid.yaml b/dataset_info/Airbot_MMK2_cover_lid.yaml index a1cd8f7bbec5cc4e754c0442b0a39787c5ec3198..e3ea3e4aceaebd57c75e7984dcd48d5318340568 100644 --- a/dataset_info/Airbot_MMK2_cover_lid.yaml +++ b/dataset_info/Airbot_MMK2_cover_lid.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: lid level1: laboratory_supplies level2: lid @@ -45,35 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the lid with both hands and cover the box. +task_result: 'null' +task_instruction: pick up the lid with both hands and cover the box. sub_tasks: -- subtask: Place the lid on the box with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the lid with the right gripper - subtask_index: 2 -- subtask: Place the lid on the box with the right gripper - subtask_index: 3 -- subtask: Grasp the lid with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the lid on the box with the left gripper +- End +- Grasp the lid with the right gripper +- Place the lid on the box with the right gripper +- Grasp the lid with the left gripper +- 'null' atomic_actions: - lift - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -82,10 +75,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -93,7 +89,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 16213 fps: 30 @@ -120,9 +117,11 @@ data_structure: "Airbot_MMK2_cover_lid_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -392,7 +391,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -400,6 +399,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -426,6 +426,131 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_cover_lid + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the lid with both hands and cover the box. + sub_tasks: + - subtask: Place the lid on the box with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the lid with the right gripper + subtask_index: 2 + - subtask: Place the lid on the box with the right gripper + subtask_index: 3 + - subtask: Grasp the lid with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - lift + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16213 + dataset_size: 569.80 MB + data_structure: "Airbot_MMK2_cover_lid_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_cut_scallion.yaml b/dataset_info/Airbot_MMK2_cut_scallion.yaml index e97e23be44ee8d6c55c6bc3c9a36c9d846b821c9..7582b66235fb8cc8a5d14b12ac951b5fa6c7e55a 100644 --- a/dataset_info/Airbot_MMK2_cut_scallion.yaml +++ b/dataset_info/Airbot_MMK2_cut_scallion.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: kitchen_knife level1: kitchen_supplies level2: kitchen_knife @@ -45,37 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the kitchen knife with your hand and cut the vegetables. +task_result: 'null' +task_instruction: pick up the kitchen knife with your hand and cut the vegetables. sub_tasks: -- subtask: Grasp the kitchen knife with the right gripper - subtask_index: 0 -- subtask: Place the kitchen knife back on the knife holder with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Cut scallions with the right gripper - subtask_index: 3 -- subtask: Press the scallion with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the kitchen knife with the right gripper +- Place the kitchen knife back on the knife holder with the right gripper +- End +- Cut scallions with the right gripper +- Press the scallion with the left gripper +- 'null' atomic_actions: - grasp - pick - place - cut -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 97 total_frames: 33460 fps: 30 @@ -122,9 +119,11 @@ data_structure: "Airbot_MMK2_cut_scallion_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:96 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -394,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -402,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -428,6 +428,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_cut_scallion + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the kitchen knife with your hand and cut the vegetables. + sub_tasks: + - subtask: Grasp the kitchen knife with the right gripper + subtask_index: 0 + - subtask: Place the kitchen knife back on the knife holder with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Cut scallions with the right gripper + subtask_index: 3 + - subtask: Press the scallion with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + - cut + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 33460 + dataset_size: 1.17 GB + data_structure: "Airbot_MMK2_cut_scallion_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_dial_number.yaml b/dataset_info/Airbot_MMK2_dial_number.yaml index cf15331b23f430b0f08f00919c80afb87ed0ff54..90a3cee03eef2839a34f818dd472b5baa9235895 100644 --- a/dataset_info/Airbot_MMK2_dial_number.yaml +++ b/dataset_info/Airbot_MMK2_dial_number.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: mobile_phone level1: appliances level2: mobile_phone @@ -39,37 +39,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the phone button and then put it down. +task_result: 'null' +task_instruction: pick up the phone button and then put it down. sub_tasks: -- subtask: Dial the number with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Lift the phone with the right gripper - subtask_index: 2 -- subtask: Grasp the phone with the right gripper - subtask_index: 3 -- subtask: Place the phone on the table with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Dial the number with the left gripper +- End +- Lift the phone with the right gripper +- Grasp the phone with the right gripper +- Place the phone on the table with the right gripper +- 'null' atomic_actions: - grasp - pick - place - press -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -78,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -89,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 41296 fps: 30 @@ -116,9 +113,11 @@ data_structure: "Airbot_MMK2_dial_number_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -388,7 +387,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -396,6 +395,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -422,6 +422,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_dial_number + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the phone button and then put it down. + sub_tasks: + - subtask: Dial the number with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Lift the phone with the right gripper + subtask_index: 2 + - subtask: Grasp the phone with the right gripper + subtask_index: 3 + - subtask: Place the phone on the table with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + - press + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 41296 + dataset_size: 1.39 GB + data_structure: "Airbot_MMK2_dial_number_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_doodled_line.yaml b/dataset_info/Airbot_MMK2_doodled_line.yaml index 9a03592584486ed9c94136eb08b70c5463a4f942..de0b796eeb17e40c55c2cd68c1e9d1ec8eb3ca76 100644 --- a/dataset_info/Airbot_MMK2_doodled_line.yaml +++ b/dataset_info/Airbot_MMK2_doodled_line.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: ballpoint_pen level1: stationery level2: ballpoint_pen @@ -45,42 +45,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Pick up the ballpoint pen and leave your handwriting on the paper. +task_result: 'null' +task_instruction: Pick up the ballpoint pen and leave your handwriting on the paper. sub_tasks: -- subtask: Close the pen switch with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Lift the pen with the right gripper - subtask_index: 2 -- subtask: Grasp the pen with the right gripper - subtask_index: 3 -- subtask: Place the pen on the table with the right gripper - subtask_index: 4 -- subtask: Write on paper with a pen with right gripper - subtask_index: 5 -- subtask: Open the pen switch with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Close the pen switch with the right gripper +- End +- Lift the pen with the right gripper +- Grasp the pen with the right gripper +- Place the pen on the table with the right gripper +- Write on paper with a pen with right gripper +- Open the pen switch with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pressbutton - write -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +80,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 57693 fps: 30 @@ -127,9 +122,11 @@ data_structure: "Airbot_MMK2_doodled_line_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +431,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_doodled_line + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Pick up the ballpoint pen and leave your handwriting on the paper. + sub_tasks: + - subtask: Close the pen switch with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Lift the pen with the right gripper + subtask_index: 2 + - subtask: Grasp the pen with the right gripper + subtask_index: 3 + - subtask: Place the pen on the table with the right gripper + subtask_index: 4 + - subtask: Write on paper with a pen with right gripper + subtask_index: 5 + - subtask: Open the pen switch with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + - pressbutton + - write + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 57693 + dataset_size: 2.09 GB + data_structure: "Airbot_MMK2_doodled_line_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml b/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml index d23458e6af41b9ea4e5edff87db3a2c4a4414198..764227de2eb299981defe3114bb27743bb9c980c 100644 --- a/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml +++ b/dataset_info/Airbot_MMK2_move_apple_orange_pomegranate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: apple level1: fruits level2: apple @@ -51,42 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- arrange apples, oranges, and pomegranates neatly. +task_result: 'null' +task_instruction: arrange apples, oranges, and pomegranates neatly. sub_tasks: -- subtask: place the orange on the right side of the table with the right gripper - subtask_index: 0 -- subtask: Grasp the orange with the right gripper - subtask_index: 1 -- subtask: place the pomegranate on the middle side of the table with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: place the apple on the left side of the table with the left gripper - subtask_index: 4 -- subtask: Grasp the apple with the left gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: Grasp the pomegranate with the right gripper - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- place the orange on the right side of the table with the right gripper +- Grasp the orange with the right gripper +- place the pomegranate on the middle side of the table with the right gripper +- End +- place the apple on the left side of the table with the left gripper +- Grasp the apple with the left gripper +- Abnormal +- Grasp the pomegranate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -95,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 59 total_frames: 30023 fps: 30 @@ -134,9 +128,11 @@ data_structure: "Airbot_MMK2_move_apple_orange_pomegranate_qced_hardlink/\n|-- a \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:58 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -406,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -414,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -440,6 +437,139 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_apple_orange_pomegranate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - arrange apples, oranges, and pomegranates neatly. + sub_tasks: + - subtask: place the orange on the right side of the table with the right gripper + subtask_index: 0 + - subtask: Grasp the orange with the right gripper + subtask_index: 1 + - subtask: place the pomegranate on the middle side of the table with the right + gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: place the apple on the left side of the table with the left gripper + subtask_index: 4 + - subtask: Grasp the apple with the left gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: Grasp the pomegranate with the right gripper + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 30023 + dataset_size: 1.09 GB + data_structure: "Airbot_MMK2_move_apple_orange_pomegranate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (47 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_block.yaml b/dataset_info/Airbot_MMK2_move_block.yaml index 45d23ddc624d7027c3404f47b33e9ef7ffe3a081..0c4231048591ed19d9bdbe9f7a879af57eab0e95 100644 --- a/dataset_info/Airbot_MMK2_move_block.yaml +++ b/dataset_info/Airbot_MMK2_move_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -45,36 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the square blocks into the circular toy. +task_result: 'null' +task_instruction: put the square blocks into the circular toy. sub_tasks: -- subtask: Place the yellow block in the blue circle with the right gripper - subtask_index: 0 -- subtask: Grasp the yellow block with the left gripper - subtask_index: 1 -- subtask: Grasp the yellow block with the rightt gripper - subtask_index: 2 -- subtask: Place the yellow block in the blue circle with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the yellow block in the blue circle with the right gripper +- Grasp the yellow block with the left gripper +- Grasp the yellow block with the rightt gripper +- Place the yellow block in the blue circle with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 7264 fps: 30 @@ -121,9 +118,11 @@ data_structure: "Airbot_MMK2_move_block_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +427,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the square blocks into the circular toy. + sub_tasks: + - subtask: Place the yellow block in the blue circle with the right gripper + subtask_index: 0 + - subtask: Grasp the yellow block with the left gripper + subtask_index: 1 + - subtask: Grasp the yellow block with the rightt gripper + subtask_index: 2 + - subtask: Place the yellow block in the blue circle with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7264 + dataset_size: 300.47 MB + data_structure: "Airbot_MMK2_move_block_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_block_both_hands.yaml b/dataset_info/Airbot_MMK2_move_block_both_hands.yaml index bae034fbf1a66ba026c19533ea7d734e8824e702..6478fc3fa4a0e6240245cbcb6e935e05fd40d663 100644 --- a/dataset_info/Airbot_MMK2_move_block_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_move_block_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -39,37 +39,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the building blocks with both hands simultaneously and place them on the - blocks. +task_result: 'null' +task_instruction: pick up the building blocks with both hands simultaneously and place + them on the blocks. sub_tasks: -- subtask: Place the blue block on top of the red block with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the green block with the right gripper - subtask_index: 2 -- subtask: Grasp the blue block with the left gripper - subtask_index: 3 -- subtask: Place the green block on top of the yellow block with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the blue block on top of the red block with the left gripper +- End +- Grasp the green block with the right gripper +- Grasp the blue block with the left gripper +- Place the green block on top of the yellow block with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -78,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -89,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 54 total_frames: 8888 fps: 30 @@ -117,9 +114,11 @@ data_structure: "Airbot_MMK2_move_block_both_hands_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:53 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +388,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +396,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +423,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_block_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the building blocks with both hands simultaneously and place them on the + blocks. + sub_tasks: + - subtask: Place the blue block on top of the red block with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the green block with the right gripper + subtask_index: 2 + - subtask: Grasp the blue block with the left gripper + subtask_index: 3 + - subtask: Place the green block on top of the yellow block with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8888 + dataset_size: 388.10 MB + data_structure: "Airbot_MMK2_move_block_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (42 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml index 7eb96f91d4ae5c3a466b28d923c9e5fa9559922a..09e51de39d14be65962e2c00d807139d1cf9f6c1 100644 --- a/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml +++ b/dataset_info/Airbot_MMK2_move_block_gold_bar_models.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: eyeglass_case level1: laboratory_supplies level2: eyeglass_case @@ -45,41 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the glasses case in the middle of the table with your left hand and put the - toy gold bar on the glasses case with your right hand. +task_result: 'null' +task_instruction: place the glasses case in the middle of the table with your left + hand and put the toy gold bar on the glasses case with your right hand. sub_tasks: -- subtask: Place the gold bar on the glasses case with the right gripper - subtask_index: 0 -- subtask: Grasp the glasses case with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the glasses case on the middle of the table with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the gold bar the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the gold bar on the glasses case with the right gripper +- Grasp the glasses case with the left gripper +- Abnormal +- Static +- Place the glasses case on the middle of the table with the left gripper +- End +- Grasp the gold bar the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 10703 fps: 30 @@ -127,9 +122,11 @@ data_structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n|-- anno \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +431,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_block_gold_bar_models + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the glasses case in the middle of the table with your left hand and put + the toy gold bar on the glasses case with your right hand. + sub_tasks: + - subtask: Place the gold bar on the glasses case with the right gripper + subtask_index: 0 + - subtask: Grasp the glasses case with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the glasses case on the middle of the table with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the gold bar the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10703 + dataset_size: 434.03 MB + data_structure: "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_block_twice.yaml b/dataset_info/Airbot_MMK2_move_block_twice.yaml index e104ea2d4457c0a315170d1cd8f1390ffcecb6ba..92f49c5e064f75c9edffdb5bc570135b229fce16 100644 --- a/dataset_info/Airbot_MMK2_move_block_twice.yaml +++ b/dataset_info/Airbot_MMK2_move_block_twice.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: rubik's_cube level1: toys level2: rubik's_cube @@ -45,37 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the building blocks on the Rubik's Cube with your left hand and take them - down with your right hand. +task_result: 'null' +task_instruction: place the building blocks on the Rubik's Cube with your left hand + and take them down with your right hand. sub_tasks: -- subtask: Grasp the yellow build block with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the yellow build block on the Rubik's Cube with the left gripper - subtask_index: 2 -- subtask: Place the yellow build block on the table with the right gripper - subtask_index: 3 -- subtask: Grasp the yellow build block with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the yellow build block with the left gripper +- End +- Place the yellow build block on the Rubik's Cube with the left gripper +- Place the yellow build block on the table with the right gripper +- Grasp the yellow build block with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 57 total_frames: 14643 fps: 30 @@ -123,9 +120,11 @@ data_structure: "Airbot_MMK2_move_block_twice_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:56 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +429,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_block_twice + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the building blocks on the Rubik's Cube with your left hand and take them + down with your right hand. + sub_tasks: + - subtask: Grasp the yellow build block with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the yellow build block on the Rubik's Cube with the left gripper + subtask_index: 2 + - subtask: Place the yellow build block on the table with the right gripper + subtask_index: 3 + - subtask: Grasp the yellow build block with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 14643 + dataset_size: 666.57 MB + data_structure: "Airbot_MMK2_move_block_twice_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (45 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml b/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml index 3414f0caf9ae3fe3e1cf3f149c62fb9cd4476d05..156d9a7ae70f65f0f941fc6269cff9d5671247b0 100644 --- a/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml +++ b/dataset_info/Airbot_MMK2_move_block_wet_wipes.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_tray level1: kitchen_supplies level2: white_tray @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the wet wipes and building blocks into the white tray respectively with your - left and right hands. +task_result: 'null' +task_instruction: put the wet wipes and building blocks into the white tray respectively + with your left and right hands. sub_tasks: -- subtask: Place the arched build blocks on the white board with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the wet wipes with the left gripper - subtask_index: 2 -- subtask: Grasp the arched build blocks with the right gripper - subtask_index: 3 -- subtask: Place the wet wipes on the white board with the left gripper - subtask_index: 4 -- subtask: Abnormal - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the arched build blocks on the white board with the right gripper +- End +- Grasp the wet wipes with the left gripper +- Grasp the arched build blocks with the right gripper +- Place the wet wipes on the white board with the left gripper +- Abnormal +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 60 total_frames: 15271 fps: 30 @@ -190,9 +186,11 @@ data_structure: 'Airbot_MMK2_move_block_wet_wipes_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:59 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -462,7 +460,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -470,6 +468,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -496,6 +495,194 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_block_wet_wipes + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the wet wipes and building blocks into the white tray respectively with your + left and right hands. + sub_tasks: + - subtask: Place the arched build blocks on the white board with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the wet wipes with the left gripper + subtask_index: 2 + - subtask: Grasp the arched build blocks with the right gripper + subtask_index: 3 + - subtask: Place the wet wipes on the white board with the left gripper + subtask_index: 4 + - subtask: Abnormal + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 15271 + dataset_size: 479.18 MB + data_structure: 'Airbot_MMK2_move_block_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_book_front.yaml b/dataset_info/Airbot_MMK2_move_book_front.yaml index 43711cc79dec1e61f1d44fcc681e42da23bc7355..091980ef6e2c94c3588d17e08425ce19724271c0 100644 --- a/dataset_info/Airbot_MMK2_move_book_front.yaml +++ b/dataset_info/Airbot_MMK2_move_book_front.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: book level1: stationery level2: book @@ -39,37 +39,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the book with your left hand and hand it to your right hand, then place - it on top of another book. +task_result: 'null' +task_instruction: pick up the book with your left hand and hand it to your right hand, + then place it on top of another book. sub_tasks: -- subtask: Deliver the yellow book from left gripper to right gripper - subtask_index: 0 -- subtask: Place the yellow book on the white book with the right gripper - subtask_index: 1 -- subtask: Grasp the yellow book with the left gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Deliver the yellow book from left gripper to right gripper +- Place the yellow book on the white book with the right gripper +- Grasp the yellow book with the left gripper +- Static +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -78,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -89,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 10519 fps: 30 @@ -176,9 +173,11 @@ data_structure: 'Airbot_MMK2_move_book_front_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -448,7 +447,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -456,6 +455,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -482,6 +482,192 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_book_front + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the book with your left hand and hand it to your right hand, then place + it on top of another book. + sub_tasks: + - subtask: Deliver the yellow book from left gripper to right gripper + subtask_index: 0 + - subtask: Place the yellow book on the white book with the right gripper + subtask_index: 1 + - subtask: Grasp the yellow book with the left gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10519 + dataset_size: 396.69 MB + data_structure: 'Airbot_MMK2_move_book_front_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (37 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_book_right_side.yaml b/dataset_info/Airbot_MMK2_move_book_right_side.yaml index ae0874c223996d2409e7af5897fb26213e095f6f..fab38d8ea83c2ee7fb21408e3ab274f61384036d 100644 --- a/dataset_info/Airbot_MMK2_move_book_right_side.yaml +++ b/dataset_info/Airbot_MMK2_move_book_right_side.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: book level1: stationery level2: book @@ -39,35 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the book with your left hand, hand it to your right hand and then put it - down. +task_result: 'null' +task_instruction: pick up the book with your left hand, hand it to your right hand + and then put it down. sub_tasks: -- subtask: Pass the yellow book to right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the yellow book with left gripper - subtask_index: 2 -- subtask: Place the yellow book in the center of table with right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Pass the yellow book to right gripper +- End +- Grasp the yellow book with left gripper +- Place the yellow book in the center of table with right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -76,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -87,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 46 total_frames: 7183 fps: 30 @@ -115,9 +113,11 @@ data_structure: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:45 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -387,7 +387,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -395,6 +395,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -421,6 +422,131 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_book_right_side + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the book with your left hand, hand it to your right hand and then put + it down. + sub_tasks: + - subtask: Pass the yellow book to right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the yellow book with left gripper + subtask_index: 2 + - subtask: Place the yellow book in the center of table with right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7183 + dataset_size: 225.02 MB + data_structure: "Airbot_MMK2_move_book_right_side_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (34 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml index 2dd62f7fd039dcb9048a804c040310fc4472a198..470bfb68c72f2d7ecd28f34468a36a004fd88e1c 100644 --- a/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml +++ b/dataset_info/Airbot_MMK2_move_bottle_tape_measure.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_basket level1: home_storage level2: white_basket @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the water bottle and the ruler off the white box respectively with your left - and right hands. +task_result: 'null' +task_instruction: take the water bottle and the ruler off the white box respectively + with your left and right hands. sub_tasks: -- subtask: Grasp the tape measure with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Grasp the mineral water with the left gripper - subtask_index: 2 -- subtask: Place the tape measure on the table with the right gripper - subtask_index: 3 -- subtask: Place the mineral water on the table with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the tape measure with the right gripper +- Abnormal +- Grasp the mineral water with the left gripper +- Place the tape measure on the table with the right gripper +- Place the mineral water on the table with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 44 total_frames: 7786 fps: 30 @@ -131,9 +127,11 @@ data_structure: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:43 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +436,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_bottle_tape_measure + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the water bottle and the ruler off the white box respectively with your left + and right hands. + sub_tasks: + - subtask: Grasp the tape measure with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Grasp the mineral water with the left gripper + subtask_index: 2 + - subtask: Place the tape measure on the table with the right gripper + subtask_index: 3 + - subtask: Place the mineral water on the table with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7786 + dataset_size: 235.21 MB + data_structure: "Airbot_MMK2_move_bottle_tape_measure_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (32 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_cake.yaml b/dataset_info/Airbot_MMK2_move_cake.yaml index 4a256a4940b20f1f58e5e33e66ce6a54631ce5e1..90ba5c6089b7da2b4a5619a149eb0e079e11226b 100644 --- a/dataset_info/Airbot_MMK2_move_cake.yaml +++ b/dataset_info/Airbot_MMK2_move_cake.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: shelf level1: home_storage level2: shelf @@ -45,48 +45,35 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place two cakes on the shelf with each hand respectively. +task_result: 'null' +task_instruction: place two cakes on the shelf with each hand respectively. sub_tasks: -- subtask: Place the ice cream into the plate with the right gripper - subtask_index: 0 -- subtask: Place the cake onto the block toy with the right gripper - subtask_index: 1 -- subtask: Grasp the cake with the left gripper - subtask_index: 2 -- subtask: Place the cake on the yellow cube block with the left gripper - subtask_index: 3 -- subtask: Place the cake on the blue cube block with the right gripper - subtask_index: 4 -- subtask: Place the cake onto the block toy with the left gripper - subtask_index: 5 -- subtask: Grasp the cake with the right gripper - subtask_index: 6 -- subtask: Static - subtask_index: 7 -- subtask: Grasp the cake from the table and with the right gripper - subtask_index: 8 -- subtask: Grasp the cake from the table and with the left gripper - subtask_index: 9 -- subtask: End - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Place the ice cream into the plate with the right gripper +- Place the cake onto the block toy with the right gripper +- Grasp the cake with the left gripper +- Place the cake on the yellow cube block with the left gripper +- Place the cake on the blue cube block with the right gripper +- Place the cake onto the block toy with the left gripper +- Grasp the cake with the right gripper +- Static +- Grasp the cake from the table and with the right gripper +- Grasp the cake from the table and with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -95,10 +82,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +96,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 94 total_frames: 22873 fps: 30 @@ -193,9 +184,11 @@ data_structure: 'Airbot_MMK2_move_cake_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:93 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -465,7 +458,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -473,6 +466,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -499,6 +493,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_cake + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place two cakes on the shelf with each hand respectively. + sub_tasks: + - subtask: Place the ice cream into the plate with the right gripper + subtask_index: 0 + - subtask: Place the cake onto the block toy with the right gripper + subtask_index: 1 + - subtask: Grasp the cake with the left gripper + subtask_index: 2 + - subtask: Place the cake on the yellow cube block with the left gripper + subtask_index: 3 + - subtask: Place the cake on the blue cube block with the right gripper + subtask_index: 4 + - subtask: Place the cake onto the block toy with the left gripper + subtask_index: 5 + - subtask: Grasp the cake with the right gripper + subtask_index: 6 + - subtask: Static + subtask_index: 7 + - subtask: Grasp the cake from the table and with the right gripper + subtask_index: 8 + - subtask: Grasp the cake from the table and with the left gripper + subtask_index: 9 + - subtask: End + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 22873 + dataset_size: 1009.39 MB + data_structure: 'Airbot_MMK2_move_cake_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (82 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml index d652236d012a2c28eed2ba0274142f0768be0963..ebe5d3fdb1f9b6ad23f67481b5970aa160940c7a 100644 --- a/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml +++ b/dataset_info/Airbot_MMK2_move_cake_tape_measure.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: bread level2: cake @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the cake and tape measure with both hands and place them on the cardboard - box. +task_result: 'null' +task_instruction: pick up the cake and tape measure with both hands and place them + on the cardboard box. sub_tasks: -- subtask: Grasp the tape measure with the right gripper - subtask_index: 0 -- subtask: Place the bagged waffle on the carton with the left gripper - subtask_index: 1 -- subtask: Grasp the bagged waffle with the left gripper - subtask_index: 2 -- subtask: Place the tape measure on the carton with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the tape measure with the right gripper +- Place the bagged waffle on the carton with the left gripper +- Grasp the bagged waffle with the left gripper +- Place the tape measure on the carton with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 9381 fps: 30 @@ -129,9 +126,11 @@ data_structure: "Airbot_MMK2_move_cake_tape_measure_qced_hardlink/\n|-- annotati \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_cake_tape_measure + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: courier_station + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the cake and tape measure with both hands and place them on the cardboard + box. + sub_tasks: + - subtask: Grasp the tape measure with the right gripper + subtask_index: 0 + - subtask: Place the bagged waffle on the carton with the left gripper + subtask_index: 1 + - subtask: Grasp the bagged waffle with the left gripper + subtask_index: 2 + - subtask: Place the tape measure on the carton with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9381 + dataset_size: 362.05 MB + data_structure: "Airbot_MMK2_move_cake_tape_measure_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml b/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml index 0242c0576f4f6686d5307b1bb7f29214e1d0391b..c7b3231d7c019daecff1c437aa6348bef6c4b006 100644 --- a/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml +++ b/dataset_info/Airbot_MMK2_move_cup_paper_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: home_storage level2: paper_boxes @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the paper box on the paper box with your left hand and put the coffee cup - on the plate with your right hand. +task_result: 'null' +task_instruction: place the paper box on the paper box with your left hand and put + the coffee cup on the plate with your right hand. sub_tasks: -- subtask: Grasp the mouse box with the left gripper - subtask_index: 0 -- subtask: Place the mouse box on the calculator box with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the coffee cup with the right gripper - subtask_index: 3 -- subtask: Place the coffee cup on the white plate with the right gripper - subtask_index: 4 -- subtask: Place the coffee cup on the pink plate with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the mouse box with the left gripper +- Place the mouse box on the calculator box with the left gripper +- End +- Grasp the coffee cup with the right gripper +- Place the coffee cup on the white plate with the right gripper +- Place the coffee cup on the pink plate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 93 total_frames: 25588 fps: 30 @@ -131,9 +127,11 @@ data_structure: "Airbot_MMK2_move_cup_paper_box_qced_hardlink/\n|-- annotations\ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:92 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +436,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_cup_paper_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the paper box on the paper box with your left hand and put the coffee cup + on the plate with your right hand. + sub_tasks: + - subtask: Grasp the mouse box with the left gripper + subtask_index: 0 + - subtask: Place the mouse box on the calculator box with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the coffee cup with the right gripper + subtask_index: 3 + - subtask: Place the coffee cup on the white plate with the right gripper + subtask_index: 4 + - subtask: Place the coffee cup on the pink plate with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 25588 + dataset_size: 929.19 MB + data_structure: "Airbot_MMK2_move_cup_paper_box_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_fake_food.yaml b/dataset_info/Airbot_MMK2_move_fake_food.yaml index af701676939d3406972404909754b69cd70ca974..1f10b52ea65dc405b38d97282814025181ec2cb2 100644 --- a/dataset_info/Airbot_MMK2_move_fake_food.yaml +++ b/dataset_info/Airbot_MMK2_move_fake_food.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: early_education_toys level1: toys level2: early_education_toys @@ -39,34 +39,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the toy food on the toy table with your right hand. +task_result: 'null' +task_instruction: put the toy food on the toy table with your right hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the small bowl of canned food with right gripper - subtask_index: 1 -- subtask: Place the small bowl of canned food on the table with the right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Grasp the small bowl of canned food with right gripper +- Place the small bowl of canned food on the table with the right gripper +- Abnormal +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +69,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +83,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 7610 fps: 30 @@ -113,9 +111,11 @@ data_structure: "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -385,7 +385,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -393,6 +393,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -419,6 +420,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_fake_food + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the toy food on the toy table with your right hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the small bowl of canned food with right gripper + subtask_index: 1 + - subtask: Place the small bowl of canned food on the table with the right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7610 + dataset_size: 313.62 MB + data_structure: "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml index a79b530a5a5a086807b137190570fb3045b2e028..09e514cb2938ef130bb8241e826e23ebbefcb41d 100644 --- a/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml +++ b/dataset_info/Airbot_MMK2_move_medicine_bottle.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,40 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the medicine bottles on the table onto the board with both hands. +task_result: 'null' +task_instruction: place the medicine bottles on the table onto the board with both + hands. sub_tasks: -- subtask: Place the white bottle on the white board with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Grasp the white bottle with the left gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the white bottle the right gripper - subtask_index: 5 -- subtask: Place the white bottle on the white board with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the white bottle on the white board with the right gripper +- Abnormal +- Grasp the white bottle with the left gripper +- Static +- End +- Grasp the white bottle the right gripper +- Place the white bottle on the white board with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 16815 fps: 30 @@ -132,9 +128,11 @@ data_structure: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +437,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_medicine_bottle + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: medical_healthcare + level2: pharmacy + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the medicine bottles on the table onto the board with both hands. + sub_tasks: + - subtask: Place the white bottle on the white board with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Grasp the white bottle with the left gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the white bottle the right gripper + subtask_index: 5 + - subtask: Place the white bottle on the white board with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16815 + dataset_size: 493.20 MB + data_structure: "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_pan.yaml b/dataset_info/Airbot_MMK2_move_pan.yaml index 1cb693141c3c8dec1bb431c87d542eb0219b7181..aaddf4217192994cdcefd0a7d53fc218f966ccc1 100644 --- a/dataset_info/Airbot_MMK2_move_pan.yaml +++ b/dataset_info/Airbot_MMK2_move_pan.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pan level1: cookware level2: pan @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- push the pan to the edge of the table with your left hand and place it on the building - block with your right hand. +task_result: 'null' +task_instruction: push the pan to the edge of the table with your left hand and place + it on the building block with your right hand. sub_tasks: -- subtask: Grasp the frying pan with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Place the frying pan on the red cube block with the right gripper - subtask_index: 2 -- subtask: Push the frying pan on left to right with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the frying pan with the right gripper +- Abnormal +- Place the frying pan on the red cube block with the right gripper +- Push the frying pan on left to right with the left gripper +- End +- 'null' atomic_actions: - push - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 14881 fps: 30 @@ -123,9 +120,11 @@ data_structure: "Airbot_MMK2_move_pan_qced_hardlink/\n|-- annotations\n| |-- e | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +429,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_pan + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - push the pan to the edge of the table with your left hand and place it on the + building block with your right hand. + sub_tasks: + - subtask: Grasp the frying pan with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Place the frying pan on the red cube block with the right gripper + subtask_index: 2 + - subtask: Push the frying pan on left to right with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - push + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 14881 + dataset_size: 764.06 MB + data_structure: "Airbot_MMK2_move_pan_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (36 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_paper_box.yaml b/dataset_info/Airbot_MMK2_move_paper_box.yaml index 7ae258fc7ba0996c1b3c3f69ed9eeb9be9d55179..5da2e81d27eab15856defd3f81ddfadd6f5f3f18 100644 --- a/dataset_info/Airbot_MMK2_move_paper_box.yaml +++ b/dataset_info/Airbot_MMK2_move_paper_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_box level1: home_storage level2: paper_box @@ -45,40 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the cardboard box with both hands and place it on the lid. +task_result: 'null' +task_instruction: pick up the cardboard box with both hands and place it on the lid. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the phone case box on the white lid with the right gripper - subtask_index: 1 -- subtask: Grasp the mouse box with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: Grasp the phone case box with the right gripper - subtask_index: 5 -- subtask: Place the mouse box on the white lid with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- End +- Place the phone case box on the white lid with the right gripper +- Grasp the mouse box with the left gripper +- Abnormal +- Static +- Grasp the phone case box with the right gripper +- Place the mouse box on the white lid with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 5070 fps: 30 @@ -185,9 +180,11 @@ data_structure: 'Airbot_MMK2_move_paper_box_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -457,7 +454,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -465,6 +462,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -491,6 +489,195 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_paper_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the cardboard box with both hands and place it on the lid. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the phone case box on the white lid with the right gripper + subtask_index: 1 + - subtask: Grasp the mouse box with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: Grasp the phone case box with the right gripper + subtask_index: 5 + - subtask: Place the mouse box on the white lid with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5070 + dataset_size: 190.01 MB + data_structure: 'Airbot_MMK2_move_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (35 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_phone_twice.yaml b/dataset_info/Airbot_MMK2_move_phone_twice.yaml index 66f7b2e706837f1319b67316181ebb9f82d43473..8f5ad3f0a19e305b40675f953b44455ae0b1153b 100644 --- a/dataset_info/Airbot_MMK2_move_phone_twice.yaml +++ b/dataset_info/Airbot_MMK2_move_phone_twice.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: mobile_phone level1: appliances level2: mobile_phone @@ -45,41 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the mobile phone on the box with your left hand and take it off with your - right hand. +task_result: 'null' +task_instruction: place the mobile phone on the box with your left hand and take it + off with your right hand. sub_tasks: -- subtask: Grasp the telephone with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Place the telephone on the box with the left gripper - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: Grasp the telephone with the left gripper - subtask_index: 5 -- subtask: Place the telephone on the table with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the telephone with the right gripper +- End +- Abnormal +- Place the telephone on the box with the left gripper +- Static +- Grasp the telephone with the left gripper +- Place the telephone on the table with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9795 fps: 30 @@ -127,9 +122,11 @@ data_structure: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +431,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_phone_twice + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the mobile phone on the box with your left hand and take it off with your + right hand. + sub_tasks: + - subtask: Grasp the telephone with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Place the telephone on the box with the left gripper + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: Grasp the telephone with the left gripper + subtask_index: 5 + - subtask: Place the telephone on the table with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9795 + dataset_size: 512.21 MB + data_structure: "Airbot_MMK2_move_phone_twice_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_sword_doll.yaml b/dataset_info/Airbot_MMK2_move_sword_doll.yaml index 59483686a4c6f931c927c93b0e66580ce14e8e3e..c74e1b91b38fa5422ac8ce3771c21d62b3279a81 100644 --- a/dataset_info/Airbot_MMK2_move_sword_doll.yaml +++ b/dataset_info/Airbot_MMK2_move_sword_doll.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_basket level1: home_storage level2: white_basket @@ -45,38 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the shark doll on the white box. +task_result: 'null' +task_instruction: put the shark doll on the white box. sub_tasks: -- subtask: Place the shark dagger on the white basket with the right gripper - subtask_index: 0 -- subtask: Grasp the shark dagger with the left gripper - subtask_index: 1 -- subtask: Place the shark dagger on the white basket with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Grasp the shark dagger with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the shark dagger on the white basket with the right gripper +- Grasp the shark dagger with the left gripper +- Place the shark dagger on the white basket with the left gripper +- Abnormal +- Grasp the shark dagger with the right gripper +- End +- 'null' atomic_actions: - grasp - lift - lower -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 5383 fps: 30 @@ -124,9 +120,11 @@ data_structure: "Airbot_MMK2_move_sword_doll_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +429,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_sword_doll + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the shark doll on the white box. + sub_tasks: + - subtask: Place the shark dagger on the white basket with the right gripper + subtask_index: 0 + - subtask: Grasp the shark dagger with the left gripper + subtask_index: 1 + - subtask: Place the shark dagger on the white basket with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Grasp the shark dagger with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - lower + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5383 + dataset_size: 226.25 MB + data_structure: "Airbot_MMK2_move_sword_doll_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml index 6c8fb7377bd22f345a66724ab39e2fb777e25d7d..b0c9e36c9ae630ca896e290248378d78104d8bff 100644 --- a/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml +++ b/dataset_info/Airbot_MMK2_move_tennis_racket_ball.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: tennis_racket level1: toys level2: tennis_racket @@ -45,41 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the racket with your left hand, place the ball on the racket with your right - hand, and then put down the racket. +task_result: 'null' +task_instruction: pick up the racket with your left hand, place the ball on the racket + with your right hand, and then put down the racket. sub_tasks: -- subtask: Lift the racket with the left gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Place the ball on the racket with the right gripper - subtask_index: 2 -- subtask: Place the racket on the table with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the racket with the left gripper - subtask_index: 5 -- subtask: Grasp the ball with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Lift the racket with the left gripper +- Abnormal +- Place the ball on the racket with the right gripper +- Place the racket on the table with the left gripper +- End +- Grasp the racket with the left gripper +- Grasp the ball with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 10833 fps: 30 @@ -127,9 +122,11 @@ data_structure: "Airbot_MMK2_move_tennis_racket_ball_qced_hardlink/\n|-- annotat \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +431,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_tennis_racket_ball + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the racket with your left hand, place the ball on the racket with your + right hand, and then put down the racket. + sub_tasks: + - subtask: Lift the racket with the left gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Place the ball on the racket with the right gripper + subtask_index: 2 + - subtask: Place the racket on the table with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the racket with the left gripper + subtask_index: 5 + - subtask: Grasp the ball with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10833 + dataset_size: 455.12 MB + data_structure: "Airbot_MMK2_move_tennis_racket_ball_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_tub.yaml b/dataset_info/Airbot_MMK2_move_tub.yaml index ad15c3f6ffd89278be169801ee5dbbb2fcc2b8ea..953a73867856ac0c7704239e17257156e7e67d77 100644 --- a/dataset_info/Airbot_MMK2_move_tub.yaml +++ b/dataset_info/Airbot_MMK2_move_tub.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: plate level1: kitchen_supplies level2: plate @@ -39,34 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pass the plate to your right hand with your left hand and then put it down. +task_result: 'null' +task_instruction: pass the plate to your right hand with your left hand and then put + it down. sub_tasks: -- subtask: Grasp the white box with left gripper - subtask_index: 0 -- subtask: Place the white box in the center of table with right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Pass the white box to right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Grasp the white box with left gripper +- Place the white box in the center of table with right gripper +- End +- Pass the white box to right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 37 total_frames: 11634 fps: 30 @@ -113,9 +112,11 @@ data_structure: "Airbot_MMK2_move_tub_qced_hardlink/\n|-- annotations\n| |-- e | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:36 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -385,7 +386,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -393,6 +394,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -419,6 +421,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_tub + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pass the plate to your right hand with your left hand and then put it down. + sub_tasks: + - subtask: Grasp the white box with left gripper + subtask_index: 0 + - subtask: Place the white box in the center of table with right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Pass the white box to right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11634 + dataset_size: 340.31 MB + data_structure: "Airbot_MMK2_move_tub_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (25 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml b/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml index 76579d4b3350569abaae4d49a0302dbb8a736932..207e3cf4619cf5b0406e47621fed27edb8abdf04 100644 --- a/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml +++ b/dataset_info/Airbot_MMK2_move_umbrella_tissues.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -57,36 +57,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the umbrella and tissues on the lid. +task_result: 'null' +task_instruction: put the umbrella and tissues on the lid. sub_tasks: -- subtask: Grasp the umbrella with the left gripper - subtask_index: 0 -- subtask: Grasp the tissue with the right gripper - subtask_index: 1 -- subtask: Place the tissue on the white lid with the right gripper - subtask_index: 2 -- subtask: Place the umbrella on the white lid with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the umbrella with the left gripper +- Grasp the tissue with the right gripper +- Place the tissue on the white lid with the right gripper +- Place the umbrella on the white lid with the left gripper +- End +- 'null' atomic_actions: - garsp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -95,10 +88,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +102,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 8709 fps: 30 @@ -134,9 +131,11 @@ data_structure: "Airbot_MMK2_move_umbrella_tissues_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -406,7 +405,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -414,6 +413,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -440,6 +440,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_move_umbrella_tissues + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the umbrella and tissues on the lid. + sub_tasks: + - subtask: Grasp the umbrella with the left gripper + subtask_index: 0 + - subtask: Grasp the tissue with the right gripper + subtask_index: 1 + - subtask: Place the tissue on the white lid with the right gripper + subtask_index: 2 + - subtask: Place the umbrella on the white lid with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - garsp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8709 + dataset_size: 327.64 MB + data_structure: "Airbot_MMK2_move_umbrella_tissues_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_open_door_left.yaml b/dataset_info/Airbot_MMK2_open_door_left.yaml index 5d7b50f4ee2b1b7100575cb6230c4c1300665d56..10cad3a52332243a8416f87ed421709aab174b6d 100644 --- a/dataset_info/Airbot_MMK2_open_door_left.yaml +++ b/dataset_info/Airbot_MMK2_open_door_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cabinet level1: furniture level2: cabinet @@ -39,30 +39,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the cabinet. +task_result: 'null' +task_instruction: open the cabinet. sub_tasks: -- subtask: Touch the door with the left gripper - subtask_index: 0 -- subtask: Open the door with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- Touch the door with the left gripper +- Open the door with the left gripper +- End +- 'null' atomic_actions: - open -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -71,10 +66,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -82,7 +80,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 6418 fps: 30 @@ -109,9 +108,11 @@ data_structure: "Airbot_MMK2_open_door_left_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -381,7 +382,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -389,6 +390,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -415,6 +417,126 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_open_door_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the cabinet. + sub_tasks: + - subtask: Touch the door with the left gripper + subtask_index: 0 + - subtask: Open the door with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - open + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6418 + dataset_size: 188.62 MB + data_structure: "Airbot_MMK2_open_door_left_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_open_door_right.yaml b/dataset_info/Airbot_MMK2_open_door_right.yaml index 8e37a8d845015a083e4051dee83b1d19bcd39aa0..69e6e16790a80d32f443238c141099084a825786 100644 --- a/dataset_info/Airbot_MMK2_open_door_right.yaml +++ b/dataset_info/Airbot_MMK2_open_door_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cabinet level1: home_storage level2: cabinet @@ -39,34 +39,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the cabinet. +task_result: 'null' +task_instruction: open the cabinet. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Open the door with the right gripper - subtask_index: 1 -- subtask: Touch the door handle with the right gripper - subtask_index: 2 -- subtask: Touch the door with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Open the door with the right gripper +- Touch the door handle with the right gripper +- Touch the door with the right gripper +- Abnormal +- 'null' atomic_actions: - open -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +68,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +82,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 31753 fps: 30 @@ -114,9 +111,11 @@ data_structure: "Airbot_MMK2_open_door_right_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -386,7 +385,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -394,6 +393,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -420,6 +420,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_open_door_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the cabinet. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Open the door with the right gripper + subtask_index: 1 + - subtask: Touch the door handle with the right gripper + subtask_index: 2 + - subtask: Touch the door with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - open + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 31753 + dataset_size: 1.03 GB + data_structure: "Airbot_MMK2_open_door_right_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_open_laptop.yaml b/dataset_info/Airbot_MMK2_open_laptop.yaml index 13746dae90bd4b00abd968b0cb86f52a2f9478f4..9568396b5fa5ed9c8a79b258714f6222780ea24f 100644 --- a/dataset_info/Airbot_MMK2_open_laptop.yaml +++ b/dataset_info/Airbot_MMK2_open_laptop.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: laptop level1: appliances level2: laptop @@ -39,37 +39,30 @@ objects: level5:operation_platform_height: 77.2 task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- press the laptop with your right hand and then open it with your left hand. +task_result: 'null' +task_instruction: press the laptop with your right hand and then open it with your + left hand. sub_tasks: -- subtask: Press the laptop with the right gripper - subtask_index: 0 -- subtask: Open the laptop with the left gripper - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Release the laptop with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the laptop with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Press the laptop with the right gripper +- Open the laptop with the left gripper +- Static +- Release the laptop with the right gripper +- End +- Grasp the laptop with the left gripper +- 'null' atomic_actions: - grasp - open -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -78,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -89,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 11734 fps: 30 @@ -116,9 +113,11 @@ data_structure: "Airbot_MMK2_open_laptop_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -388,7 +387,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -396,6 +395,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -422,6 +422,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_open_laptop + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - press the laptop with your right hand and then open it with your left hand. + sub_tasks: + - subtask: Press the laptop with the right gripper + subtask_index: 0 + - subtask: Open the laptop with the left gripper + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Release the laptop with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the laptop with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - open + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11734 + dataset_size: 432.71 MB + data_structure: "Airbot_MMK2_open_laptop_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_open_lid.yaml b/dataset_info/Airbot_MMK2_open_lid.yaml index 28c8918447fcbc0bd10bb6ce5b97a29341b369d7..8599365b98e58e5fdcae3467abc09e839f598ffb 100644 --- a/dataset_info/Airbot_MMK2_open_lid.yaml +++ b/dataset_info/Airbot_MMK2_open_lid.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: box level1: home_storage level2: box @@ -39,38 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the lid of the box with both hands. +task_result: 'null' +task_instruction: open the lid of the box with both hands. sub_tasks: -- subtask: Open the box lid with the right gripper - subtask_index: 0 -- subtask: Touch the box lid with the left gripper - subtask_index: 1 -- subtask: Press the box with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Open the box lid with the left gripper - subtask_index: 4 -- subtask: Touch the box lid with the right gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Open the box lid with the right gripper +- Touch the box lid with the left gripper +- Press the box with the left gripper +- End +- Open the box lid with the left gripper +- Touch the box lid with the right gripper +- Abnormal +- 'null' atomic_actions: - open -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 198 total_frames: 28684 fps: 30 @@ -117,9 +112,11 @@ data_structure: "Airbot_MMK2_open_lid_qced_hardlink/\n|-- annotations\n| |-- e | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:197 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +386,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +394,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +421,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_open_lid + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the lid of the box with both hands. + sub_tasks: + - subtask: Open the box lid with the right gripper + subtask_index: 0 + - subtask: Touch the box lid with the left gripper + subtask_index: 1 + - subtask: Press the box with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Open the box lid with the left gripper + subtask_index: 4 + - subtask: Touch the box lid with the right gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - open + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28684 + dataset_size: 974.53 MB + data_structure: "Airbot_MMK2_open_lid_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (186 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_organize_plate.yaml b/dataset_info/Airbot_MMK2_organize_plate.yaml index e67757c3e43ec9a60e9dea0d47da720f74970037..6e6f82f8749757b5db2d3fc4657d7d6060adff57 100644 --- a/dataset_info/Airbot_MMK2_organize_plate.yaml +++ b/dataset_info/Airbot_MMK2_organize_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: round_plate level1: kitchen_supplies level2: plates @@ -45,40 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use both hands to place the stacked plates on the table onto the shelf. +task_result: 'null' +task_instruction: use both hands to place the stacked plates on the table onto the + shelf. sub_tasks: -- subtask: Press the plate with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the plate into the front mezzanine of the shelf with the right gripper - subtask_index: 2 -- subtask: Press the plate and push it to the right with the left gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Place the plate into the middle mezzanine of the shelf with the right gripper - subtask_index: 5 -- subtask: Grasp the plate with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Press the plate with the left gripper +- End +- Place the plate into the front mezzanine of the shelf with the right gripper +- Press the plate and push it to the right with the left gripper +- Abnormal +- Place the plate into the middle mezzanine of the shelf with the right gripper +- Grasp the plate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 595 total_frames: 338107 fps: 30 @@ -125,9 +121,11 @@ data_structure: "Airbot_MMK2_organize_plate_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:594 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -397,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -405,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -431,6 +430,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_organize_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitichen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use both hands to place the stacked plates on the table onto the shelf. + sub_tasks: + - subtask: Press the plate with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the plate into the front mezzanine of the shelf with the right + gripper + subtask_index: 2 + - subtask: Press the plate and push it to the right with the left gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Place the plate into the middle mezzanine of the shelf with the right + gripper + subtask_index: 5 + - subtask: Grasp the plate with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 338107 + dataset_size: 14.21 GB + data_structure: "Airbot_MMK2_organize_plate_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (583 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Airbot_MMK2_pass_paper_box.yaml b/dataset_info/Airbot_MMK2_pass_paper_box.yaml index 3be9169c7910011f30bc4da53ca136f2e292b01b..3d93f825ec3900b822efb091ff33e1b336b2316a 100644 --- a/dataset_info/Airbot_MMK2_pass_paper_box.yaml +++ b/dataset_info/Airbot_MMK2_pass_paper_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_box level1: laboratory_supplies level2: paper_box @@ -39,43 +39,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the book with your left hand, hand it to your right hand and then put it - down. +task_result: 'null' +task_instruction: pick up the book with your left hand, hand it to your right hand + and then put it down. sub_tasks: -- subtask: Place the mouse box on the white lid with the left gripper - subtask_index: 0 -- subtask: Grasp the calculator case with left gripper - subtask_index: 1 -- subtask: Place the phone case box on the white lid with the right gripper - subtask_index: 2 -- subtask: Grasp the mouse box with the left gripper - subtask_index: 3 -- subtask: Grasp the phone case box with the right gripper - subtask_index: 4 -- subtask: Pass the calculator case to right gripper - subtask_index: 5 -- subtask: Place the calculator case in the center of table with right gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- Place the mouse box on the white lid with the left gripper +- Grasp the calculator case with left gripper +- Place the phone case box on the white lid with the right gripper +- Grasp the mouse box with the left gripper +- Grasp the phone case box with the right gripper +- Pass the calculator case to right gripper +- Place the calculator case in the center of table with right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +74,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +88,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 46 total_frames: 8948 fps: 30 @@ -182,9 +176,11 @@ data_structure: 'Airbot_MMK2_pass_paper_box_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:45 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -454,7 +450,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -462,6 +458,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -488,6 +485,198 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_pass_paper_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the book with your left hand, hand it to your right hand and then put + it down. + sub_tasks: + - subtask: Place the mouse box on the white lid with the left gripper + subtask_index: 0 + - subtask: Grasp the calculator case with left gripper + subtask_index: 1 + - subtask: Place the phone case box on the white lid with the right gripper + subtask_index: 2 + - subtask: Grasp the mouse box with the left gripper + subtask_index: 3 + - subtask: Grasp the phone case box with the right gripper + subtask_index: 4 + - subtask: Pass the calculator case to right gripper + subtask_index: 5 + - subtask: Place the calculator case in the center of table with right gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8948 + dataset_size: 306.64 MB + data_structure: 'Airbot_MMK2_pass_paper_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml b/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml index 9fbcdd5fd9a298c99170ee51a98859ad195f39d2..201d260f48e486e7bddc0b4bc2d14092b38eb75e 100644 --- a/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml +++ b/dataset_info/Airbot_MMK2_pick_up_and_place_tub.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: washbasin level1: home_storage level2: washbasin @@ -39,42 +39,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the washbasin and put it down. +task_result: 'null' +task_instruction: pick up the washbasin and put it down. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Lift the basin with the left gripper - subtask_index: 1 -- subtask: Grasp the basin with the left gripper - subtask_index: 2 -- subtask: Grasp the basin with the right gripper - subtask_index: 3 -- subtask: Place basin on the table with the right gripper - subtask_index: 4 -- subtask: Place basin on the table with the left gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: Lift the basin with the right gripper - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- End +- Lift the basin with the left gripper +- Grasp the basin with the left gripper +- Grasp the basin with the right gripper +- Place basin on the table with the right gripper +- Place basin on the table with the left gripper +- Abnormal +- Lift the basin with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +73,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 16632 fps: 30 @@ -122,9 +116,11 @@ data_structure: "Airbot_MMK2_pick_up_and_place_tub_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -394,7 +390,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -402,6 +398,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -428,6 +425,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_pick_up_and_place_tub + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the washbasin and put it down. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Lift the basin with the left gripper + subtask_index: 1 + - subtask: Grasp the basin with the left gripper + subtask_index: 2 + - subtask: Grasp the basin with the right gripper + subtask_index: 3 + - subtask: Place basin on the table with the right gripper + subtask_index: 4 + - subtask: Place basin on the table with the left gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: Lift the basin with the right gripper + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16632 + dataset_size: 607.45 MB + data_structure: "Airbot_MMK2_pick_up_and_place_tub_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_play_guitar.yaml b/dataset_info/Airbot_MMK2_play_guitar.yaml index 131d3820eca0decdc5780356f969233b2c072111..07100455a42ef0b9fdb850a35b53a5d23496bdbb 100644 --- a/dataset_info/Airbot_MMK2_play_guitar.yaml +++ b/dataset_info/Airbot_MMK2_play_guitar.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the guitar with your left hand, play it with your right hand, and then put - it down with your left hand. +task_result: 'null' +task_instruction: pick up the guitar with your left hand, play it with your right + hand, and then put it down with your left hand. sub_tasks: -- subtask: Lift the ukulele with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Play ukulele with the right gripper - subtask_index: 2 -- subtask: Grasp the ukulele with the left gripper - subtask_index: 3 -- subtask: Place the ukulele on the table with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Lift the ukulele with the left gripper +- End +- Play ukulele with the right gripper +- Grasp the ukulele with the left gripper +- Place the ukulele on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 94 total_frames: 23327 fps: 30 @@ -128,9 +125,11 @@ data_structure: "Airbot_MMK2_play_guitar_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:93 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +399,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +407,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +434,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_play_guitar + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: after-school_tutoring_center + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the guitar with your left hand, play it with your right hand, and then + put it down with your left hand. + sub_tasks: + - subtask: Lift the ukulele with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Play ukulele with the right gripper + subtask_index: 2 + - subtask: Grasp the ukulele with the left gripper + subtask_index: 3 + - subtask: Place the ukulele on the table with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 23327 + dataset_size: 944.70 MB + data_structure: "Airbot_MMK2_play_guitar_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (82 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_play_toy_piano.yaml b/dataset_info/Airbot_MMK2_play_toy_piano.yaml index 0dfdb65ba0a32b8906ca45f4292b8cddf6089a71..3060d4a900f1edfe4dd3f4f9bf8e8db3e087d29f 100644 --- a/dataset_info/Airbot_MMK2_play_toy_piano.yaml +++ b/dataset_info/Airbot_MMK2_play_toy_piano.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the piano in the middle with your left hand and play the piano with your - right hand. +task_result: 'null' +task_instruction: pick up the piano in the middle with your left hand and play the + piano with your right hand. sub_tasks: -- subtask: Play the toy piano with the right gripper - subtask_index: 0 -- subtask: Place the toy piano on the table with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the toy piano with the left gripper - subtask_index: 3 -- subtask: Lift the toy piano with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Play the toy piano with the right gripper +- Place the toy piano on the table with the left gripper +- End +- Grasp the toy piano with the left gripper +- Lift the toy piano with the left gripper +- 'null' atomic_actions: - grasp - pick - place - press -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 7683 fps: 30 @@ -123,9 +120,11 @@ data_structure: "Airbot_MMK2_play_toy_piano_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +429,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_play_toy_piano + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the piano in the middle with your left hand and play the piano with your + right hand. + sub_tasks: + - subtask: Play the toy piano with the right gripper + subtask_index: 0 + - subtask: Place the toy piano on the table with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the toy piano with the left gripper + subtask_index: 3 + - subtask: Lift the toy piano with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + - press + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7683 + dataset_size: 230.15 MB + data_structure: "Airbot_MMK2_play_toy_piano_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_pour_BBs.yaml b/dataset_info/Airbot_MMK2_pour_BBs.yaml index dca784a59eeaf54bf0b5150fb6f0740e39e8a5bc..3755dac8ee246bf544e0895c2c4c4de61915c613 100644 --- a/dataset_info/Airbot_MMK2_pour_BBs.yaml +++ b/dataset_info/Airbot_MMK2_pour_BBs.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_cup level1: kitchen_supplies level2: paper_cup @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- grab the paper cup and pour the bullets inside into the bowl. +task_result: 'null' +task_instruction: grab the paper cup and pour the bullets inside into the bowl. sub_tasks: -- subtask: Grasp the paper cup containing bullets with right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Pour the bullets from the paper cup into the bowl with right gripper - subtask_index: 4 -- subtask: Place the paper cup on the table with right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the paper cup containing bullets with right gripper +- End +- Abnormal +- Static +- Pour the bullets from the paper cup into the bowl with right gripper +- Place the paper cup on the table with right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 19529 fps: 30 @@ -130,9 +126,11 @@ data_structure: "Airbot_MMK2_pour_BBs_qced_hardlink/\n|-- annotations\n| |-- e | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +435,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_pour_BBs + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - grab the paper cup and pour the bullets inside into the bowl. + sub_tasks: + - subtask: Grasp the paper cup containing bullets with right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Pour the bullets from the paper cup into the bowl with right gripper + subtask_index: 4 + - subtask: Place the paper cup on the table with right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 19529 + dataset_size: 726.21 MB + data_structure: "Airbot_MMK2_pour_BBs_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_prepare_tea.yaml b/dataset_info/Airbot_MMK2_prepare_tea.yaml index 7a10919a50d48a01fdc8ba7ea037efaca31d6082..c2e5b74ba10a3daf4807431dfaab5b508093dc70 100644 --- a/dataset_info/Airbot_MMK2_prepare_tea.yaml +++ b/dataset_info/Airbot_MMK2_prepare_tea.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: small_teapot level1: teacus level2: small_teapot @@ -57,42 +57,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- with the right hand, take out the tea leaves from the tea canister and put them - into the inner pot of the teapot. with the left hand, put the inner pot of the teapot - into the teapot and then close the lid of the teapot. +task_result: 'null' +task_instruction: with the right hand, take out the tea leaves from the tea canister + and put them into the inner pot of the teapot. with the left hand, put the inner + pot of the teapot into the teapot and then close the lid of the teapot. sub_tasks: -- subtask: Place the tea leaves into the tea strainer with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Close the teapot lid with the left gripper - subtask_index: 2 -- subtask: Grasp the tea strainer with the left gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Place the tea strainer into the teapot with the left gripper - subtask_index: 5 -- subtask: Grasp the tea leaves with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the tea leaves into the tea strainer with the right gripper +- End +- Close the teapot lid with the left gripper +- Grasp the tea strainer with the left gripper +- Abnormal +- Place the tea strainer into the teapot with the left gripper +- Grasp the tea leaves with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -101,10 +92,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -112,7 +106,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 89 total_frames: 70954 fps: 30 @@ -139,9 +134,11 @@ data_structure: "Airbot_MMK2_prepare_tea_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:88 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -411,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -419,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -445,6 +443,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_prepare_tea + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - with the right hand, take out the tea leaves from the tea canister and put them + into the inner pot of the teapot. with the left hand, put the inner pot of the + teapot into the teapot and then close the lid of the teapot. + sub_tasks: + - subtask: Place the tea leaves into the tea strainer with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Close the teapot lid with the left gripper + subtask_index: 2 + - subtask: Grasp the tea strainer with the left gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Place the tea strainer into the teapot with the left gripper + subtask_index: 5 + - subtask: Grasp the tea leaves with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 70954 + dataset_size: 2.99 GB + data_structure: "Airbot_MMK2_prepare_tea_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (77 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_pull_plunger.yaml b/dataset_info/Airbot_MMK2_pull_plunger.yaml index d43383cce9a3f8271f2a0692913d8ce4fd83bec2..697e4654f8426d69e8f21641633d865eb7ac0e1b 100644 --- a/dataset_info/Airbot_MMK2_pull_plunger.yaml +++ b/dataset_info/Airbot_MMK2_pull_plunger.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -45,39 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the syringe with your left hand and pull the piston with your right hand. +task_result: 'null' +task_instruction: pick up the syringe with your left hand and pull the piston with + your right hand. sub_tasks: -- subtask: Lift the syringe with the left gripper - subtask_index: 0 -- subtask: Pull the piston with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the syringe with the left gripper - subtask_index: 3 -- subtask: Grasp the piston with the right gripper - subtask_index: 4 -- subtask: Place the syringe on the table with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Lift the syringe with the left gripper +- Pull the piston with the right gripper +- End +- Grasp the syringe with the left gripper +- Grasp the piston with the right gripper +- Place the syringe on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pull -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -86,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -97,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 97 total_frames: 26077 fps: 30 @@ -124,9 +121,11 @@ data_structure: "Airbot_MMK2_pull_plunger_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:96 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +430,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_pull_plunger + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: medical_healthcare + level2: hospital + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the syringe with your left hand and pull the piston with your right hand. + sub_tasks: + - subtask: Lift the syringe with the left gripper + subtask_index: 0 + - subtask: Pull the piston with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the syringe with the left gripper + subtask_index: 3 + - subtask: Grasp the piston with the right gripper + subtask_index: 4 + - subtask: Place the syringe on the table with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + - pull + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 26077 + dataset_size: 1002.56 MB + data_structure: "Airbot_MMK2_pull_plunger_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_pull_tissue.yaml b/dataset_info/Airbot_MMK2_pull_tissue.yaml index ce3a8b861a1d071f30c3d7d3202c0c2ae9da7719..c3ba294dd6a1538f477a6a2b770bb585f8a88405 100644 --- a/dataset_info/Airbot_MMK2_pull_tissue.yaml +++ b/dataset_info/Airbot_MMK2_pull_tissue.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: tissue_paper level1: kitchen_supplies level2: paper_towels @@ -45,36 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take a tissue paper out of tissue box by hand. +task_result: 'null' +task_instruction: take a tissue paper out of tissue box by hand. sub_tasks: -- subtask: Place the tissue on the table with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Pull out a piece of tissue with the right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Grasp the a piece of tissue with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the tissue on the table with the right gripper +- End +- Pull out a piece of tissue with the right gripper +- Abnormal +- Grasp the a piece of tissue with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 11531 fps: 30 @@ -121,9 +118,11 @@ data_structure: "Airbot_MMK2_pull_tissue_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +427,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_pull_tissue + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take a tissue paper out of tissue box by hand. + sub_tasks: + - subtask: Place the tissue on the table with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Pull out a piece of tissue with the right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Grasp the a piece of tissue with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11531 + dataset_size: 405.79 MB + data_structure: "Airbot_MMK2_pull_tissue_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_push_away_book.yaml b/dataset_info/Airbot_MMK2_push_away_book.yaml index 6e9cb78cd61e12281aa6abd739cd9764a4d42a8a..354bc9ceb0821916ece2b360179432e463e904a4 100644 --- a/dataset_info/Airbot_MMK2_push_away_book.yaml +++ b/dataset_info/Airbot_MMK2_push_away_book.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: book level1: stationery level2: book @@ -39,34 +39,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pull out a book by hand. +task_result: 'null' +task_instruction: pull out a book by hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Lay the book down with the right gripper - subtask_index: 2 -- subtask: Hold the book with the right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Abnormal +- Lay the book down with the right gripper +- Hold the book with the right gripper +- 'null' atomic_actions: - pinch - clip - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +69,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +83,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 244 total_frames: 36575 fps: 30 @@ -113,9 +111,11 @@ data_structure: "Airbot_MMK2_push_away_book_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:243 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -385,7 +385,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -393,6 +393,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -419,6 +420,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_push_away_book + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pull out a book by hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Lay the book down with the right gripper + subtask_index: 2 + - subtask: Hold the book with the right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - pinch + - clip + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 36575 + dataset_size: 1.40 GB + data_structure: "Airbot_MMK2_push_away_book_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (232 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_push_plunger.yaml b/dataset_info/Airbot_MMK2_push_plunger.yaml index aeb9b9e4dfd03cac4cdb9c65d14822315755b0e1..947183879c352e268872e25ec299450086c775bf 100644 --- a/dataset_info/Airbot_MMK2_push_plunger.yaml +++ b/dataset_info/Airbot_MMK2_push_plunger.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -45,42 +45,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the syringe with your left hand, then push it back with your right hand, - and finally lower it with your left hand. +task_result: 'null' +task_instruction: pick up the syringe with your left hand, then push it back with + your right hand, and finally lower it with your left hand. sub_tasks: -- subtask: Lift the syringe with the left gripper - subtask_index: 0 -- subtask: Push the piston with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the syringe with the left gripper - subtask_index: 3 -- subtask: Grasp the piston with the right gripper - subtask_index: 4 -- subtask: Place the syringe on the table with the left gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Lift the syringe with the left gripper +- Push the piston with the right gripper +- End +- Grasp the syringe with the left gripper +- Grasp the piston with the right gripper +- Place the syringe on the table with the left gripper +- Abnormal +- 'null' atomic_actions: - grasp - pick - place - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +80,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 147 total_frames: 47091 fps: 30 @@ -127,9 +122,11 @@ data_structure: "Airbot_MMK2_push_plunger_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:146 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +431,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_push_plunger + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: medical_healthcare + level2: hospital + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the syringe with your left hand, then push it back with your right hand, + and finally lower it with your left hand. + sub_tasks: + - subtask: Lift the syringe with the left gripper + subtask_index: 0 + - subtask: Push the piston with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the syringe with the left gripper + subtask_index: 3 + - subtask: Grasp the piston with the right gripper + subtask_index: 4 + - subtask: Place the syringe on the table with the left gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 47091 + dataset_size: 1.65 GB + data_structure: "Airbot_MMK2_push_plunger_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (135 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_push_toy_car.yaml b/dataset_info/Airbot_MMK2_push_toy_car.yaml index 7ceeb6eca5905a1788127ad91e903cd62fb692ce..ef9e1c521625ac766e36d2d56df2583f0dd1f9c8 100644 --- a/dataset_info/Airbot_MMK2_push_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_push_toy_car.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -45,32 +45,26 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- push the toy car by hand. +task_result: 'null' +task_instruction: push the toy car by hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Static - subtask_index: 1 -- subtask: Push the toy car from left to right with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Static +- Push the toy car from left to right with the left gripper +- Abnormal +- 'null' atomic_actions: - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +73,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6897 fps: 30 @@ -117,9 +115,11 @@ data_structure: "Airbot_MMK2_push_toy_car_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +389,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +397,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +424,128 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_push_toy_car + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - push the toy car by hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Static + subtask_index: 1 + - subtask: Push the toy car from left to right with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6897 + dataset_size: 175.81 MB + data_structure: "Airbot_MMK2_push_toy_car_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_remove_lid.yaml b/dataset_info/Airbot_MMK2_remove_lid.yaml index fe222d1290208a22a187b16cbe00b3bab6207932..5c783a61d67e774e6367fdc711e31596a7f0b441 100644 --- a/dataset_info/Airbot_MMK2_remove_lid.yaml +++ b/dataset_info/Airbot_MMK2_remove_lid.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: lid level1: storage_utensils level2: lid @@ -51,35 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the lid of the foam box. +task_result: 'null' +task_instruction: pick up the lid of the foam box. sub_tasks: -- subtask: Place the lid of the foam box on the table with your left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the lid of the foam box with your left gripper - subtask_index: 2 -- subtask: Grasp the lid of the foam box with your right gripper - subtask_index: 3 -- subtask: Place the lid of the foam box on the table with your right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the lid of the foam box on the table with your left gripper +- End +- Grasp the lid of the foam box with your left gripper +- Grasp the lid of the foam box with your right gripper +- Place the lid of the foam box on the table with your right gripper +- 'null' atomic_actions: - lift - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +81,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 11589 fps: 30 @@ -126,9 +123,11 @@ data_structure: "Airbot_MMK2_remove_lid_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +397,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +405,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +432,131 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_remove_lid + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the lid of the foam box. + sub_tasks: + - subtask: Place the lid of the foam box on the table with your left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the lid of the foam box with your left gripper + subtask_index: 2 + - subtask: Grasp the lid of the foam box with your right gripper + subtask_index: 3 + - subtask: Place the lid of the foam box on the table with your right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - lift + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11589 + dataset_size: 403.42 MB + data_structure: "Airbot_MMK2_remove_lid_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_remove_pen_cap.yaml b/dataset_info/Airbot_MMK2_remove_pen_cap.yaml index 0628d60601a01b4228f55ce9bf59bd4387e712bd..56c792fff4d9bda36df17b233b3bb9b1730f409b 100644 --- a/dataset_info/Airbot_MMK2_remove_pen_cap.yaml +++ b/dataset_info/Airbot_MMK2_remove_pen_cap.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pen level1: stationery level2: pen @@ -39,38 +39,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pen, remove the cap, and put it down. +task_result: 'null' +task_instruction: pick up the pen, remove the cap, and put it down. sub_tasks: -- subtask: Place the pen cap on the table with the right gripper - subtask_index: 0 -- subtask: Grasp the pen tightly with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the pen on the table with the left gripper - subtask_index: 3 -- subtask: Remove the pen cap with the right gripper - subtask_index: 4 -- subtask: Lift the pen with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the pen cap on the table with the right gripper +- Grasp the pen tightly with the left gripper +- End +- Place the pen on the table with the left gripper +- Remove the pen cap with the right gripper +- Lift the pen with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 41147 fps: 30 @@ -117,9 +113,11 @@ data_structure: "Airbot_MMK2_remove_pen_cap_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +387,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +395,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +422,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_remove_pen_cap + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pen, remove the cap, and put it down. + sub_tasks: + - subtask: Place the pen cap on the table with the right gripper + subtask_index: 0 + - subtask: Grasp the pen tightly with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the pen on the table with the left gripper + subtask_index: 3 + - subtask: Remove the pen cap with the right gripper + subtask_index: 4 + - subtask: Lift the pen with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 41147 + dataset_size: 1.52 GB + data_structure: "Airbot_MMK2_remove_pen_cap_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_rotate_cube_face.yaml b/dataset_info/Airbot_MMK2_rotate_cube_face.yaml index fd0e700b4ebecf1028296bccde3a7a6ee94192af..8869468bd26ad79a8dc6f6734f90be17490bfe90 100644 --- a/dataset_info/Airbot_MMK2_rotate_cube_face.yaml +++ b/dataset_info/Airbot_MMK2_rotate_cube_face.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: rubik's_cube level1: toys level2: rubik's_cube @@ -39,43 +39,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the rubik's cube with left hand, rotate it once with right hand, and then - put it down with left hand. +task_result: 'null' +task_instruction: pick up the rubik's cube with left hand, rotate it once with right + hand, and then put it down with left hand. sub_tasks: -- subtask: Adjust the rubik's cube with the left gripper - subtask_index: 0 -- subtask: Grasp the rubik's cube with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the rubik's cube on the table with the left gripper - subtask_index: 3 -- subtask: Move the rightmost combination block of the rubik's cube with the right - gripper - subtask_index: 4 -- subtask: Abnormal - subtask_index: 5 -- subtask: Lift up the rubik's cube with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Adjust the rubik's cube with the left gripper +- Grasp the rubik's cube with the left gripper +- End +- Place the rubik's cube on the table with the left gripper +- Move the rightmost combination block of the rubik's cube with the right gripper +- Abnormal +- Lift up the rubik's cube with the left gripper +- 'null' atomic_actions: - grasp - pick - place - filp -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +74,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +88,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 145 total_frames: 55057 fps: 30 @@ -123,9 +117,11 @@ data_structure: "Airbot_MMK2_rotate_cube_face_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:144 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +391,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +399,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +426,139 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_rotate_cube_face + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the rubik's cube with left hand, rotate it once with right hand, and then + put it down with left hand. + sub_tasks: + - subtask: Adjust the rubik's cube with the left gripper + subtask_index: 0 + - subtask: Grasp the rubik's cube with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the rubik's cube on the table with the left gripper + subtask_index: 3 + - subtask: Move the rightmost combination block of the rubik's cube with the right + gripper + subtask_index: 4 + - subtask: Abnormal + subtask_index: 5 + - subtask: Lift up the rubik's cube with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + - filp + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 55057 + dataset_size: 2.13 GB + data_structure: "Airbot_MMK2_rotate_cube_face_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (133 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_slide_block.yaml b/dataset_info/Airbot_MMK2_slide_block.yaml index 37c2caab5269c8cd1464b302ca8bf800f2a12c44..de74e3e91ced273f15c95fd8c5aeb974816076ad 100644 --- a/dataset_info/Airbot_MMK2_slide_block.yaml +++ b/dataset_info/Airbot_MMK2_slide_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: educational_building_blocks level1: toys level2: educational_building_blocks @@ -39,42 +39,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- press the building block with right hand to move its position. +task_result: 'null' +task_instruction: press the building block with right hand to move its position. sub_tasks: -- subtask: Move the orange cylinder to the right side of the box with right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Move the blue cube to the upper right side of the box with right gripper - subtask_index: 2 -- subtask: Adjust the build blocks - subtask_index: 3 -- subtask: Move the green cylinder to the right side of the box with right gripper - subtask_index: 4 -- subtask: Move the wooden arched build blocks to the upper right side of the box - with right gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: Move the yellow cube to the upper right side of the box with right gripper - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- Move the orange cylinder to the right side of the box with right gripper +- End +- Move the blue cube to the upper right side of the box with right gripper +- Adjust the build blocks +- Move the green cylinder to the right side of the box with right gripper +- Move the wooden arched build blocks to the upper right side of the box with right + gripper +- Abnormal +- Move the yellow cube to the upper right side of the box with right gripper +- 'null' atomic_actions: - press - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +73,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 173 total_frames: 52760 fps: 30 @@ -121,9 +115,11 @@ data_structure: "Airbot_MMK2_slide_block_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:172 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +389,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +397,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +424,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_slide_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - press the building block with right hand to move its position. + sub_tasks: + - subtask: Move the orange cylinder to the right side of the box with right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Move the blue cube to the upper right side of the box with right gripper + subtask_index: 2 + - subtask: Adjust the build blocks + subtask_index: 3 + - subtask: Move the green cylinder to the right side of the box with right gripper + subtask_index: 4 + - subtask: Move the wooden arched build blocks to the upper right side of the box + with right gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: Move the yellow cube to the upper right side of the box with right gripper + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - press + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 52760 + dataset_size: 2.13 GB + data_structure: "Airbot_MMK2_slide_block_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (161 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml index 97d43efee4b0192e454fafb1982f3dac37fa8bd7..7dd4c36da2ac6f5ed92dfd92e35833afdd911472 100644 --- a/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml +++ b/dataset_info/Airbot_MMK2_slide_block_onto_post.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: early_education_toys level1: toys level2: early_education_toys @@ -39,40 +39,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the toy back to its original position with right hand. +task_result: 'null' +task_instruction: put the toy back to its original position with right hand. sub_tasks: -- subtask: Grasp the red cylindrical build blocks with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the green cylindrical build blocks on the 1st pillar of the block - base with the right gripper - subtask_index: 2 -- subtask: Place the red cylindrical build blocks on the 1st pillar of the block base - with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Grasp the green cylindrical build blocks with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the red cylindrical build blocks with the right gripper +- End +- Place the green cylindrical build blocks on the 1st pillar of the block base with + the right gripper +- Place the red cylindrical build blocks on the 1st pillar of the block base with + the right gripper +- Abnormal +- Grasp the green cylindrical build blocks with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -81,10 +73,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -92,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 189 total_frames: 36378 fps: 30 @@ -120,9 +116,11 @@ data_structure: "Airbot_MMK2_slide_block_onto_post_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:188 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -392,7 +390,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -400,6 +398,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -426,6 +425,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_slide_block_onto_post + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the toy back to its original position with right hand. + sub_tasks: + - subtask: Grasp the red cylindrical build blocks with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the green cylindrical build blocks on the 1st pillar of the block + base with the right gripper + subtask_index: 2 + - subtask: Place the red cylindrical build blocks on the 1st pillar of the block + base with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Grasp the green cylindrical build blocks with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 36378 + dataset_size: 1.31 GB + data_structure: "Airbot_MMK2_slide_block_onto_post_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (177 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml b/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml index a11caefbf1c6571e86dc009725565ecad30e39af..01ca7e5d26e000d626e9a02ffc09a493e6961c55 100644 --- a/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml +++ b/dataset_info/Airbot_MMK2_slide_tape_onto_can.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: early_education_toys level1: toys level2: early_education_toys @@ -45,41 +45,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the rings with left and right hands respectively and place them on the beverage - cans. +task_result: 'null' +task_instruction: pick up the rings with left and right hands respectively and place + them on the beverage cans. sub_tasks: -- subtask: Grasp the transparent circular ring on the left with the left gripper - subtask_index: 0 -- subtask: Place the transparent circular ring on the left onto the fanta in the - middle with left gripper - subtask_index: 1 -- subtask: Place the transparent circular ring on the right onto the fanta in the - middle with right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Grasp the transparent circular ring on the right with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the transparent circular ring on the left with the left gripper +- Place the transparent circular ring on the left onto the fanta in the middle with + left gripper +- Place the transparent circular ring on the right onto the fanta in the middle with + right gripper +- Abnormal +- Grasp the transparent circular ring on the right with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +80,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 44 total_frames: 10133 fps: 30 @@ -127,9 +123,11 @@ data_structure: "Airbot_MMK2_slide_tape_onto_can_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:43 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +397,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +405,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +432,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_slide_tape_onto_can + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the rings with left and right hands respectively and place them on the + beverage cans. + sub_tasks: + - subtask: Grasp the transparent circular ring on the left with the left gripper + subtask_index: 0 + - subtask: Place the transparent circular ring on the left onto the fanta in the + middle with left gripper + subtask_index: 1 + - subtask: Place the transparent circular ring on the right onto the fanta in the + middle with right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Grasp the transparent circular ring on the right with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10133 + dataset_size: 490.04 MB + data_structure: "Airbot_MMK2_slide_tape_onto_can_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (32 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_stack_block.yaml b/dataset_info/Airbot_MMK2_stack_block.yaml index 9b312dfeb1014fc8fe8047bce277ef097996fd91..4cf539016a2f46d3655bf8c983455c33e1d4909f 100644 --- a/dataset_info/Airbot_MMK2_stack_block.yaml +++ b/dataset_info/Airbot_MMK2_stack_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -45,68 +45,45 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the square building blocks in the center with left hand and put the cylindrical - building blocks on top with right hand. +task_result: 'null' +task_instruction: place the square building blocks in the center with left hand and + put the cylindrical building blocks on top with right hand. sub_tasks: -- subtask: Grasp the blue build blocks with the left gripper - subtask_index: 0 -- subtask: Grasp the green build blocks with the right gripper - subtask_index: 1 -- subtask: Place the blue build blocks on the Mini table with the left gripper - subtask_index: 2 -- subtask: Place the green build blocks on the blue build block with the right gripper - subtask_index: 3 -- subtask: Grasp the blue diamond shaped build blocks with the right gripper - subtask_index: 4 -- subtask: Grasp the red build blocks with the right gripper - subtask_index: 5 -- subtask: Place the blue diamond shaped build blocks on the glasses case with the - right gripper - subtask_index: 6 -- subtask: Place the purple build blocks on the red build block with the right gripper - subtask_index: 7 -- subtask: Place the green build blocks on the center of the table with the left gripper - subtask_index: 8 -- subtask: Grasp the green build blocks with the left gripper - subtask_index: 9 -- subtask: Place the glasses case on the red and green build blocks with the left - gripper - subtask_index: 10 -- subtask: Grasp the purple build blocks with the right gripper - subtask_index: 11 -- subtask: Place the blue build blocks on the yellow build block with the left gripper - subtask_index: 12 -- subtask: Grasp the glasses case with the left gripper - subtask_index: 13 -- subtask: Place the green cylindrical build blocks on the green build blocks with - the right gripper - subtask_index: 14 -- subtask: End - subtask_index: 15 -- subtask: Place the blue build blocks on the pink build block with the left gripper - subtask_index: 16 -- subtask: Place the red build blocks on the blue build block with the right gripper - subtask_index: 17 -- subtask: Grasp the green cylindrical build blocks with the right gripper - subtask_index: 18 -- subtask: 'null' - subtask_index: 19 +- Grasp the blue build blocks with the left gripper +- Grasp the green build blocks with the right gripper +- Place the blue build blocks on the Mini table with the left gripper +- Place the green build blocks on the blue build block with the right gripper +- Grasp the blue diamond shaped build blocks with the right gripper +- Grasp the red build blocks with the right gripper +- Place the blue diamond shaped build blocks on the glasses case with the right gripper +- Place the purple build blocks on the red build block with the right gripper +- Place the green build blocks on the center of the table with the left gripper +- Grasp the green build blocks with the left gripper +- Place the glasses case on the red and green build blocks with the left gripper +- Grasp the purple build blocks with the right gripper +- Place the blue build blocks on the yellow build block with the left gripper +- Grasp the glasses case with the left gripper +- Place the green cylindrical build blocks on the green build blocks with the right + gripper +- End +- Place the blue build blocks on the pink build block with the left gripper +- Place the red build blocks on the blue build block with the right gripper +- Grasp the green cylindrical build blocks with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -115,10 +92,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -126,7 +106,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 236 total_frames: 60925 fps: 30 @@ -153,9 +134,11 @@ data_structure: "Airbot_MMK2_stack_block_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:235 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -425,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -433,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -459,6 +443,165 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_stack_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the square building blocks in the center with left hand and put the cylindrical + building blocks on top with right hand. + sub_tasks: + - subtask: Grasp the blue build blocks with the left gripper + subtask_index: 0 + - subtask: Grasp the green build blocks with the right gripper + subtask_index: 1 + - subtask: Place the blue build blocks on the Mini table with the left gripper + subtask_index: 2 + - subtask: Place the green build blocks on the blue build block with the right gripper + subtask_index: 3 + - subtask: Grasp the blue diamond shaped build blocks with the right gripper + subtask_index: 4 + - subtask: Grasp the red build blocks with the right gripper + subtask_index: 5 + - subtask: Place the blue diamond shaped build blocks on the glasses case with the + right gripper + subtask_index: 6 + - subtask: Place the purple build blocks on the red build block with the right gripper + subtask_index: 7 + - subtask: Place the green build blocks on the center of the table with the left + gripper + subtask_index: 8 + - subtask: Grasp the green build blocks with the left gripper + subtask_index: 9 + - subtask: Place the glasses case on the red and green build blocks with the left + gripper + subtask_index: 10 + - subtask: Grasp the purple build blocks with the right gripper + subtask_index: 11 + - subtask: Place the blue build blocks on the yellow build block with the left gripper + subtask_index: 12 + - subtask: Grasp the glasses case with the left gripper + subtask_index: 13 + - subtask: Place the green cylindrical build blocks on the green build blocks with + the right gripper + subtask_index: 14 + - subtask: End + subtask_index: 15 + - subtask: Place the blue build blocks on the pink build block with the left gripper + subtask_index: 16 + - subtask: Place the red build blocks on the blue build block with the right gripper + subtask_index: 17 + - subtask: Grasp the green cylindrical build blocks with the right gripper + subtask_index: 18 + - subtask: 'null' + subtask_index: 19 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 60925 + dataset_size: 2.00 GB + data_structure: "Airbot_MMK2_stack_block_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (224 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_stack_bowl.yaml b/dataset_info/Airbot_MMK2_stack_bowl.yaml index 5d498527e5b40fe539888a57fe7acd10f79f9e8d..512a57954634f80cc1f985781e3148017e1a9475 100644 --- a/dataset_info/Airbot_MMK2_stack_bowl.yaml +++ b/dataset_info/Airbot_MMK2_stack_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: bowl level1: plastic_bowls level2: bowl @@ -39,36 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the small bowl into the big bowl by hand. +task_result: 'null' +task_instruction: put the small bowl into the big bowl by hand. sub_tasks: -- subtask: Grasp the white bowl with the left gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Place the white bowl on the pink bowl with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the white bowl with the left gripper +- Abnormal +- Place the white bowl on the pink bowl with the left gripper +- End +- Static +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -77,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -88,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9073 fps: 30 @@ -175,9 +172,11 @@ data_structure: 'Airbot_MMK2_Airbot_MMK2_stack_bowl_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -447,7 +446,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -455,6 +454,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -481,6 +481,191 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_stack_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the small bowl into the big bowl by hand. + sub_tasks: + - subtask: Grasp the white bowl with the left gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Place the white bowl on the pink bowl with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9073 + dataset_size: 339.42 MB + data_structure: 'Airbot_MMK2_Airbot_MMK2_stack_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_stack_cubic_block.yaml b/dataset_info/Airbot_MMK2_stack_cubic_block.yaml index e0541844820186d72be185620e75511a46b4661a..c144f3752922fcaf7e2af1f2b0247fbd3e740c5a 100644 --- a/dataset_info/Airbot_MMK2_stack_cubic_block.yaml +++ b/dataset_info/Airbot_MMK2_stack_cubic_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -39,53 +39,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the building blocks with left and right hands respectively and place them - on the blocks. +task_result: 'null' +task_instruction: pick up the building blocks with left and right hands respectively + and place them on the blocks. sub_tasks: -- subtask: Grasp the blue build blocks with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the blue build blocks on the red build block with the right gripper - subtask_index: 2 -- subtask: Place the yellow build blocks on the orange build block with the right - gripper - subtask_index: 3 -- subtask: Place the red build blocks on the center of the table with the left gripper - subtask_index: 4 -- subtask: Place the orange build blocks on the yellow build block with the right - gripper - subtask_index: 5 -- subtask: Grasp the blue build blocks with the left gripper - subtask_index: 6 -- subtask: Grasp the red build blocks with the left gripper - subtask_index: 7 -- subtask: Abnormal - subtask_index: 8 -- subtask: Grasp the orange build blocks with the right gripper - subtask_index: 9 -- subtask: Place the blue build blocks on the red build block with the left gripper - subtask_index: 10 -- subtask: Grasp the yellow build blocks with the right gripper - subtask_index: 11 -- subtask: 'null' - subtask_index: 12 +- Grasp the blue build blocks with the right gripper +- End +- Place the blue build blocks on the red build block with the right gripper +- Place the yellow build blocks on the orange build block with the right gripper +- Place the red build blocks on the center of the table with the left gripper +- Place the orange build blocks on the yellow build block with the right gripper +- Grasp the blue build blocks with the left gripper +- Grasp the red build blocks with the left gripper +- Abnormal +- Grasp the orange build blocks with the right gripper +- Place the blue build blocks on the red build block with the left gripper +- Grasp the yellow build blocks with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 162 total_frames: 48691 fps: 30 @@ -133,9 +121,11 @@ data_structure: "Airbot_MMK2_stack_cubic_block_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:161 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -405,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -413,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -439,6 +430,149 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_stack_cubic_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the building blocks with left and right hands respectively and place them + on the blocks. + sub_tasks: + - subtask: Grasp the blue build blocks with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the blue build blocks on the red build block with the right gripper + subtask_index: 2 + - subtask: Place the yellow build blocks on the orange build block with the right + gripper + subtask_index: 3 + - subtask: Place the red build blocks on the center of the table with the left gripper + subtask_index: 4 + - subtask: Place the orange build blocks on the yellow build block with the right + gripper + subtask_index: 5 + - subtask: Grasp the blue build blocks with the left gripper + subtask_index: 6 + - subtask: Grasp the red build blocks with the left gripper + subtask_index: 7 + - subtask: Abnormal + subtask_index: 8 + - subtask: Grasp the orange build blocks with the right gripper + subtask_index: 9 + - subtask: Place the blue build blocks on the red build block with the left gripper + subtask_index: 10 + - subtask: Grasp the yellow build blocks with the right gripper + subtask_index: 11 + - subtask: 'null' + subtask_index: 12 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 48691 + dataset_size: 1.92 GB + data_structure: "Airbot_MMK2_stack_cubic_block_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (150 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_stack_cup.yaml b/dataset_info/Airbot_MMK2_stack_cup.yaml index 07e8ba65b1977479519a404163fc61b0c133a27a..5eb254c58e2586988e82c775c23a2390c65ec518 100644 --- a/dataset_info/Airbot_MMK2_stack_cup.yaml +++ b/dataset_info/Airbot_MMK2_stack_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cup level1: kitchen_supplies level2: cup @@ -39,36 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the cup by hand and stack it on top of another cup. +task_result: 'null' +task_instruction: pick up the cup by hand and stack it on top of another cup. sub_tasks: -- subtask: Place the purple cup on the pink cup with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the white cup with the right gripper - subtask_index: 2 -- subtask: Place the white cup on the purple cup with the right gripper - subtask_index: 3 -- subtask: Grasp the purple cup with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the purple cup on the pink cup with the left gripper +- End +- Grasp the white cup with the right gripper +- Place the white cup on the purple cup with the right gripper +- Grasp the purple cup with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -77,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -88,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 67637 fps: 30 @@ -115,9 +112,11 @@ data_structure: "Airbot_MMK2_stack_cup_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -387,7 +386,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -395,6 +394,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -421,6 +421,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_stack_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the cup by hand and stack it on top of another cup. + sub_tasks: + - subtask: Place the purple cup on the pink cup with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the white cup with the right gripper + subtask_index: 2 + - subtask: Place the white cup on the purple cup with the right gripper + subtask_index: 3 + - subtask: Grasp the purple cup with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 67637 + dataset_size: 2.37 GB + data_structure: "Airbot_MMK2_stack_cup_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml b/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml index 1886340e7b5b3bc7e5e52f817d10aff55e9b2552..a7f23d26d00ae0c9f51375f82b9803e3964c7678 100644 --- a/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml +++ b/dataset_info/Airbot_MMK2_storage_and_take_cake_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: bread level2: cake @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the cake into the plate with left hand and take it out with right hand. +task_result: 'null' +task_instruction: put the cake into the plate with left hand and take it out with + right hand. sub_tasks: -- subtask: Place the cake on the table with the right gripper - subtask_index: 0 -- subtask: Grasp the cake with the left gripper - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Place the cake into the white plate with the left gripper - subtask_index: 3 -- subtask: Grasp the cake on the plate with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the cake on the table with the right gripper +- Grasp the cake with the left gripper +- Static +- Place the cake into the white plate with the left gripper +- Grasp the cake on the plate with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9782 fps: 30 @@ -124,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_and_take_cake_plate_qced_hardlink/\n|-- ann \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +430,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_and_take_cake_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the cake into the plate with left hand and take it out with right hand. + sub_tasks: + - subtask: Place the cake on the table with the right gripper + subtask_index: 0 + - subtask: Grasp the cake with the left gripper + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Place the cake into the white plate with the left gripper + subtask_index: 3 + - subtask: Grasp the cake on the plate with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9782 + dataset_size: 487.34 MB + data_structure: "Airbot_MMK2_storage_and_take_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_apple_orange.yaml b/dataset_info/Airbot_MMK2_storage_apple_orange.yaml index a66df96d55b0b4bd2b6267988625dc83ff78ea2f..2df93d5ecea3d0234668a64fab73935086614e69 100644 --- a/dataset_info/Airbot_MMK2_storage_apple_orange.yaml +++ b/dataset_info/Airbot_MMK2_storage_apple_orange.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: apple level1: fruits level2: apple @@ -51,39 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the apple with left hand and put it in the storage box, and pick up the - orange with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the apple with left hand and put it in the storage box, + and pick up the orange with right hand and put it in the storage box. sub_tasks: -- subtask: Grasp the orange with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the orange into the right compartment of the storage box with the - right gripper - subtask_index: 2 -- subtask: Grasp the apple with the left gripper - subtask_index: 3 -- subtask: Place the apple into the left compartment of the storage box with the - left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the orange with the right gripper +- End +- Place the orange into the right compartment of the storage box with the right gripper +- Grasp the apple with the left gripper +- Place the apple into the left compartment of the storage box with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 41 total_frames: 6657 fps: 30 @@ -131,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_apple_orange_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:40 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +435,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_apple_orange + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the apple with left hand and put it in the storage box, and pick up the + orange with right hand and put it in the storage box. + sub_tasks: + - subtask: Grasp the orange with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the orange into the right compartment of the storage box with the + right gripper + subtask_index: 2 + - subtask: Grasp the apple with the left gripper + subtask_index: 3 + - subtask: Place the apple into the left compartment of the storage box with the + left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6657 + dataset_size: 176.34 MB + data_structure: "Airbot_MMK2_storage_apple_orange_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (29 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_badminton.yaml b/dataset_info/Airbot_MMK2_storage_badminton.yaml index 535fd2c2f6365b28e00794a006211de1bdc3a1e1..8a9e74912e32164fdd68886ec8f5cfbc654d48d6 100644 --- a/dataset_info/Airbot_MMK2_storage_badminton.yaml +++ b/dataset_info/Airbot_MMK2_storage_badminton.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: badminton level1: toys level2: badminton @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the badminton shuttlecock into the storage box with left and right hands respectively. +task_result: 'null' +task_instruction: put the badminton shuttlecock into the storage box with left and + right hands respectively. sub_tasks: -- subtask: Grasp the badminton with the right gripper - subtask_index: 0 -- subtask: Place the badminton into the left compartment of the storage box with the - left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the badminton with the left gripper - subtask_index: 3 -- subtask: Place the badminton into the right compartment of the storage box with - the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the badminton with the right gripper +- Place the badminton into the left compartment of the storage box with the left gripper +- End +- Grasp the badminton with the left gripper +- Place the badminton into the right compartment of the storage box with the right + gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 8382 fps: 30 @@ -124,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_badminton_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +430,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_badminton + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: leisure_plaza + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the badminton shuttlecock into the storage box with left and right hands respectively. + sub_tasks: + - subtask: Grasp the badminton with the right gripper + subtask_index: 0 + - subtask: Place the badminton into the left compartment of the storage box with + the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the badminton with the left gripper + subtask_index: 3 + - subtask: Place the badminton into the right compartment of the storage box with + the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8382 + dataset_size: 253.84 MB + data_structure: "Airbot_MMK2_storage_badminton_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml b/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml index 7025ff5830004197ae9561a7b0da3219710af0c5..02d14ad9dd84498e1114f3ebd561b0c65919dda6 100644 --- a/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml +++ b/dataset_info/Airbot_MMK2_storage_bell_pepper.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: red_bell_pepper level1: vegetables level2: red_bell_pepper @@ -51,38 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the red peppers and yellow peppers into the box. +task_result: 'null' +task_instruction: put the red peppers and yellow peppers into the box. sub_tasks: -- subtask: Place the yellow pepper into the left compartment of the storage box with - the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the green pepper with the right gripper - subtask_index: 2 -- subtask: Place the green pepper into the right compartment of the storage box with - the right gripper - subtask_index: 3 -- subtask: Grasp the yellow pepper with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the yellow pepper into the left compartment of the storage box with the left + gripper +- End +- Grasp the green pepper with the right gripper +- Place the green pepper into the right compartment of the storage box with the right + gripper +- Grasp the yellow pepper with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 7525 fps: 30 @@ -130,9 +127,11 @@ data_structure: "Airbot_MMK2_storage_bell_pepper_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +436,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_bell_pepper + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the red peppers and yellow peppers into the box. + sub_tasks: + - subtask: Place the yellow pepper into the left compartment of the storage box + with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the green pepper with the right gripper + subtask_index: 2 + - subtask: Place the green pepper into the right compartment of the storage box + with the right gripper + subtask_index: 3 + - subtask: Grasp the yellow pepper with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7525 + dataset_size: 200.59 MB + data_structure: "Airbot_MMK2_storage_bell_pepper_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml index a002e14a8557a611dd1477632fa4e4fae691e7c7..5f87a7b4cdd5e9847645b578bd00788011f05b23 100644 --- a/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml +++ b/dataset_info/Airbot_MMK2_storage_bell_pepper_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: yellow_bell_pepper level1: vegetables level2: yellow_bell_pepper @@ -45,36 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the yellow green peppers into the bowl with right hand. +task_result: 'null' +task_instruction: put the yellow green peppers into the bowl with right hand. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Place yellow round chili pepper on the blue bowl with the right gripper - subtask_index: 1 -- subtask: Grasp the yellow round chili pepper with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Abnormal +- Place yellow round chili pepper on the blue bowl with the right gripper +- Grasp the yellow round chili pepper with the right gripper +- End +- Static +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 4495 fps: 30 @@ -122,9 +119,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_bell_pepper_bowl_qced_hardlink/ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -394,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -402,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -428,6 +428,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_bell_pepper_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: living_room + level2: household + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the yellow green peppers into the bowl with right hand. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Place yellow round chili pepper on the blue bowl with the right gripper + subtask_index: 1 + - subtask: Grasp the yellow round chili pepper with the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 4495 + dataset_size: 149.48 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_bell_pepper_bowl_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_block.yaml b/dataset_info/Airbot_MMK2_storage_block.yaml index ebf658474d20d27663a628ac9eb191123701c265..ae2145243bd667fe28f17b0a3aa0d6296a1c683a 100644 --- a/dataset_info/Airbot_MMK2_storage_block.yaml +++ b/dataset_info/Airbot_MMK2_storage_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: rectangular_building_blocks level1: building_blocks level2: rectangular_building_blocks @@ -45,81 +45,49 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the building blocks into the plate by hand. +task_result: 'null' +task_instruction: put the building blocks into the plate by hand. sub_tasks: -- subtask: Place the green rectangular build blocks into the white plate with the - right gripper - subtask_index: 0 -- subtask: Grasp the green cylindrical build blocks with the left gripper - subtask_index: 1 -- subtask: Place the red cube build blocks into the plate with the left gripper - subtask_index: 2 -- subtask: Place the green rectangular build blocks into the pink plate with the right - gripper - subtask_index: 3 -- subtask: Place the green cube build blocks into the plate with the right gripper - subtask_index: 4 -- subtask: Place the green cylindrical build blocks into the cardboard box with the - left gripper - subtask_index: 5 -- subtask: Place the red rectangular build blocks into the pink plate with the left - gripper - subtask_index: 6 -- subtask: Grasp the purple cube build blocks with the left gripper - subtask_index: 7 -- subtask: Grasp the blue cube build blocks with the right gripper - subtask_index: 8 -- subtask: Abnormal - subtask_index: 9 -- subtask: Grasp the green cube build blocks with the right gripper - subtask_index: 10 -- subtask: Place the purple cube build blocks into the white plate with the left gripper - subtask_index: 11 -- subtask: Place the red rectangular build blocks into the white plate with the left - gripper - subtask_index: 12 -- subtask: Place the red cube build blocks into the white plate with the right gripper - subtask_index: 13 -- subtask: Grasp the red cylindrical build blocks with the right gripper - subtask_index: 14 -- subtask: Place the blue cube build blocks on the purple cube build blocks with the - right gripper - subtask_index: 15 -- subtask: Place the green cube build blocks into the pink plate with the left gripper - subtask_index: 16 -- subtask: Grasp the green rectangular build blocks with the right gripper - subtask_index: 17 -- subtask: End - subtask_index: 18 -- subtask: Place the red cylindrical build blocks into the cardboard box with the - right gripper - subtask_index: 19 -- subtask: Grasp the red cube build blocks with the left gripper - subtask_index: 20 -- subtask: Grasp the red cube build blocks with the right gripper - subtask_index: 21 -- subtask: Grasp the red rectangular build blocks with the left gripper - subtask_index: 22 -- subtask: Grasp the green cube build blocks with the left gripper - subtask_index: 23 -- subtask: 'null' - subtask_index: 24 +- Place the green rectangular build blocks into the white plate with the right gripper +- Grasp the green cylindrical build blocks with the left gripper +- Place the red cube build blocks into the plate with the left gripper +- Place the green rectangular build blocks into the pink plate with the right gripper +- Place the green cube build blocks into the plate with the right gripper +- Place the green cylindrical build blocks into the cardboard box with the left gripper +- Place the red rectangular build blocks into the pink plate with the left gripper +- Grasp the purple cube build blocks with the left gripper +- Grasp the blue cube build blocks with the right gripper +- Abnormal +- Grasp the green cube build blocks with the right gripper +- Place the purple cube build blocks into the white plate with the left gripper +- Place the red rectangular build blocks into the white plate with the left gripper +- Place the red cube build blocks into the white plate with the right gripper +- Grasp the red cylindrical build blocks with the right gripper +- Place the blue cube build blocks on the purple cube build blocks with the right + gripper +- Place the green cube build blocks into the pink plate with the left gripper +- Grasp the green rectangular build blocks with the right gripper +- End +- Place the red cylindrical build blocks into the cardboard box with the right gripper +- Grasp the red cube build blocks with the left gripper +- Grasp the red cube build blocks with the right gripper +- Grasp the red rectangular build blocks with the left gripper +- Grasp the green cube build blocks with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -128,10 +96,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -139,7 +110,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 262 total_frames: 55260 fps: 30 @@ -166,9 +138,11 @@ data_structure: "Airbot_MMK2_storage_block_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:261 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -438,7 +412,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -446,6 +420,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -472,6 +447,178 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the building blocks into the plate by hand. + sub_tasks: + - subtask: Place the green rectangular build blocks into the white plate with the + right gripper + subtask_index: 0 + - subtask: Grasp the green cylindrical build blocks with the left gripper + subtask_index: 1 + - subtask: Place the red cube build blocks into the plate with the left gripper + subtask_index: 2 + - subtask: Place the green rectangular build blocks into the pink plate with the + right gripper + subtask_index: 3 + - subtask: Place the green cube build blocks into the plate with the right gripper + subtask_index: 4 + - subtask: Place the green cylindrical build blocks into the cardboard box with + the left gripper + subtask_index: 5 + - subtask: Place the red rectangular build blocks into the pink plate with the left + gripper + subtask_index: 6 + - subtask: Grasp the purple cube build blocks with the left gripper + subtask_index: 7 + - subtask: Grasp the blue cube build blocks with the right gripper + subtask_index: 8 + - subtask: Abnormal + subtask_index: 9 + - subtask: Grasp the green cube build blocks with the right gripper + subtask_index: 10 + - subtask: Place the purple cube build blocks into the white plate with the left + gripper + subtask_index: 11 + - subtask: Place the red rectangular build blocks into the white plate with the + left gripper + subtask_index: 12 + - subtask: Place the red cube build blocks into the white plate with the right gripper + subtask_index: 13 + - subtask: Grasp the red cylindrical build blocks with the right gripper + subtask_index: 14 + - subtask: Place the blue cube build blocks on the purple cube build blocks with + the right gripper + subtask_index: 15 + - subtask: Place the green cube build blocks into the pink plate with the left gripper + subtask_index: 16 + - subtask: Grasp the green rectangular build blocks with the right gripper + subtask_index: 17 + - subtask: End + subtask_index: 18 + - subtask: Place the red cylindrical build blocks into the cardboard box with the + right gripper + subtask_index: 19 + - subtask: Grasp the red cube build blocks with the left gripper + subtask_index: 20 + - subtask: Grasp the red cube build blocks with the right gripper + subtask_index: 21 + - subtask: Grasp the red rectangular build blocks with the left gripper + subtask_index: 22 + - subtask: Grasp the green cube build blocks with the left gripper + subtask_index: 23 + - subtask: 'null' + subtask_index: 24 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 55260 + dataset_size: 2.17 GB + data_structure: "Airbot_MMK2_storage_block_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (250 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_block_BBs.yaml b/dataset_info/Airbot_MMK2_storage_block_BBs.yaml index e9baeedf5e28ad0d84b8439e1264c23acb0bff90..2d7e67c8451ccbbea1d1a0002a453ae538b9cf68 100644 --- a/dataset_info/Airbot_MMK2_storage_block_BBs.yaml +++ b/dataset_info/Airbot_MMK2_storage_block_BBs.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: null level1: bb_pellets level2: ball @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the bb pellets and rectangular building blocks into the bowl. +task_result: 'null' +task_instruction: put the bb pellets and rectangular building blocks into the bowl. sub_tasks: -- subtask: Place the green cuboid block into the bowl with the right gripper - subtask_index: 0 -- subtask: Grasp the green cuboid block with the right gripper - subtask_index: 1 -- subtask: Grasp the bullet with the left gripper - subtask_index: 2 -- subtask: Place the bullet into the bowl with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the green cuboid block into the bowl with the right gripper +- Grasp the green cuboid block with the right gripper +- Grasp the bullet with the left gripper +- Place the bullet into the bowl with the left gripper +- End +- 'null' atomic_actions: - pick - clip - place - lift -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 8640 fps: 30 @@ -188,9 +185,11 @@ data_structure: 'Airbot_MMK2_storage_block_BBs_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -460,7 +459,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -468,6 +467,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -494,6 +494,192 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_block_BBs + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the bb pellets and rectangular building blocks into the bowl. + sub_tasks: + - subtask: Place the green cuboid block into the bowl with the right gripper + subtask_index: 0 + - subtask: Grasp the green cuboid block with the right gripper + subtask_index: 1 + - subtask: Grasp the bullet with the left gripper + subtask_index: 2 + - subtask: Place the bullet into the bowl with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - pick + - clip + - place + - lift + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8640 + dataset_size: 282.66 MB + data_structure: 'Airbot_MMK2_storage_block_BBs_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml b/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml index d4ce797f27e8884c2408693d00ce8c202ef3c55b..84dafff1004fac976a197516473234d094eeb86e 100644 --- a/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_storage_block_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -45,37 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the building blocks with both hands simultaneously and put them into the - white storage box. +task_result: 'null' +task_instruction: pick up the building blocks with both hands simultaneously and put + them into the white storage box. sub_tasks: -- subtask: Grasp the red block with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the orange block with the right gripper - subtask_index: 2 -- subtask: Place the red block into the white basket with the left gripper - subtask_index: 3 -- subtask: Place the orange block into the white basket with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the red block with the left gripper +- End +- Grasp the orange block with the right gripper +- Place the red block into the white basket with the left gripper +- Place the orange block into the white basket with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 3769 fps: 30 @@ -123,9 +120,11 @@ data_structure: "Airbot_MMK2_storage_block_both_hands_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +429,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_block_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the building blocks with both hands simultaneously and put them into the + white storage box. + sub_tasks: + - subtask: Grasp the red block with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the orange block with the right gripper + subtask_index: 2 + - subtask: Place the red block into the white basket with the left gripper + subtask_index: 3 + - subtask: Place the orange block into the white basket with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 3769 + dataset_size: 104.08 MB + data_structure: "Airbot_MMK2_storage_block_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml b/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml index 3d3303b9e81bc1a150125c4a2a44cd1d4d7463d0..8229052731afe4a5099215b64a5b7ae3708f08d6 100644 --- a/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml +++ b/dataset_info/Airbot_MMK2_storage_block_tape_measure.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: ruler_set level1: stationery level2: ruler_set @@ -57,41 +57,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the building blocks in the bowl with left hand and the ruler in the plate - with right hand. +task_result: 'null' +task_instruction: place the building blocks in the bowl with left hand and the ruler + in the plate with right hand. sub_tasks: -- subtask: Place the tape measure into the pink plate with the right gripper - subtask_index: 0 -- subtask: Grasp the tape measure with the right gripper - subtask_index: 1 -- subtask: Place the green rectangular block into the blue bowl with the left gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Grasp the green rectangular block with the left gripper - subtask_index: 4 -- subtask: Abnormal - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the tape measure into the pink plate with the right gripper +- Grasp the tape measure with the right gripper +- Place the green rectangular block into the blue bowl with the left gripper +- Static +- Grasp the green rectangular block with the left gripper +- Abnormal +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -100,10 +91,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -111,7 +105,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 8921 fps: 30 @@ -198,9 +193,11 @@ data_structure: 'Airbot_MMK2_storage_block_tape_measure_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -470,7 +467,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -478,6 +475,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -504,6 +502,196 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_block_tape_measure + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the building blocks in the bowl with left hand and the ruler in the plate + with right hand. + sub_tasks: + - subtask: Place the tape measure into the pink plate with the right gripper + subtask_index: 0 + - subtask: Grasp the tape measure with the right gripper + subtask_index: 1 + - subtask: Place the green rectangular block into the blue bowl with the left gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Grasp the green rectangular block with the left gripper + subtask_index: 4 + - subtask: Abnormal + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8921 + dataset_size: 371.90 MB + data_structure: 'Airbot_MMK2_storage_block_tape_measure_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (36 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_book.yaml b/dataset_info/Airbot_MMK2_storage_book.yaml index c2afa0748a3cdcd197d0ad33ef055c76417b2e52..1b23a78db833c2ea173cc1f17569088583df25ea 100644 --- a/dataset_info/Airbot_MMK2_storage_book.yaml +++ b/dataset_info/Airbot_MMK2_storage_book.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: bookshelves level1: bookshelves level2: bookshelves @@ -45,42 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the book with right hand and place it on the bookshelf. +task_result: 'null' +task_instruction: pick up the book with right hand and place it on the bookshelf. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the book with the right gripper - subtask_index: 1 -- subtask: Place the book on the bookshelf with the left gripper - subtask_index: 2 -- subtask: Place the book on the bookshelf with the right gripper - subtask_index: 3 -- subtask: Push the book to the edge of the table with the right gripper - subtask_index: 4 -- subtask: Grasp the book with the left gripper - subtask_index: 5 -- subtask: Grasp the third book from the right with the left gripper - subtask_index: 6 -- subtask: Abnormal - subtask_index: 7 -- subtask: 'null' - subtask_index: 8 +- End +- Grasp the book with the right gripper +- Place the book on the bookshelf with the left gripper +- Place the book on the bookshelf with the right gripper +- Push the book to the edge of the table with the right gripper +- Grasp the book with the left gripper +- Grasp the third book from the right with the left gripper +- Abnormal +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 237 total_frames: 91429 fps: 30 @@ -127,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_book_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:236 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -399,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -407,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -433,6 +430,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_book + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the book with right hand and place it on the bookshelf. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the book with the right gripper + subtask_index: 1 + - subtask: Place the book on the bookshelf with the left gripper + subtask_index: 2 + - subtask: Place the book on the bookshelf with the right gripper + subtask_index: 3 + - subtask: Push the book to the edge of the table with the right gripper + subtask_index: 4 + - subtask: Grasp the book with the left gripper + subtask_index: 5 + - subtask: Grasp the third book from the right with the left gripper + subtask_index: 6 + - subtask: Abnormal + subtask_index: 7 + - subtask: 'null' + subtask_index: 8 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 91429 + dataset_size: 4.07 GB + data_structure: "Airbot_MMK2_storage_book_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (225 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml index 2215ddc43b457c4ac08ea7fcbebca4e24b802735..b533016add6adb9e8fedc55e76d48d02e2bab426 100644 --- a/dataset_info/Airbot_MMK2_storage_bottle_part.yaml +++ b/dataset_info/Airbot_MMK2_storage_bottle_part.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: water_bottle level1: beverages level2: water_bottle @@ -51,44 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the water bottle and handle into the cardboard box. +task_result: 'null' +task_instruction: put the water bottle and handle into the cardboard box. sub_tasks: -- subtask: Grasp the water bottle with the right gripper - subtask_index: 0 -- subtask: Place the water bottle into the cardboard box with the right gripper - subtask_index: 1 -- subtask: Lift the water bottle with the right gripper - subtask_index: 2 -- subtask: 'Lift the remote control clip with the left gripper ' - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Static - subtask_index: 5 -- subtask: Place the remote control clip into the cardboard box with the left gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: 'Grasp the remote control clip with the left gripper ' - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Grasp the water bottle with the right gripper +- Place the water bottle into the cardboard box with the right gripper +- Lift the water bottle with the right gripper +- Lift the remote control clip with the left gripper +- Abnormal +- Static +- Place the remote control clip into the cardboard box with the left gripper +- End +- Grasp the remote control clip with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -97,10 +86,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -108,7 +100,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 10499 fps: 30 @@ -136,9 +129,11 @@ data_structure: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -408,7 +403,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -416,6 +411,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -442,6 +438,140 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_bottle_part + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the water bottle and handle into the cardboard box. + sub_tasks: + - subtask: Grasp the water bottle with the right gripper + subtask_index: 0 + - subtask: Place the water bottle into the cardboard box with the right gripper + subtask_index: 1 + - subtask: Lift the water bottle with the right gripper + subtask_index: 2 + - subtask: 'Lift the remote control clip with the left gripper ' + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Static + subtask_index: 5 + - subtask: Place the remote control clip into the cardboard box with the left gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: 'Grasp the remote control clip with the left gripper ' + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10499 + dataset_size: 508.16 MB + data_structure: "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_bowl.yaml b/dataset_info/Airbot_MMK2_storage_bowl.yaml index 4a12660da30e493b8244385b2771f1b6a7f3473f..5f042242d1e8bae631be7636091a08e6c968e99c 100644 --- a/dataset_info/Airbot_MMK2_storage_bowl.yaml +++ b/dataset_info/Airbot_MMK2_storage_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: bowl level1: plastic_bowls level2: bowl @@ -45,36 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick the bowls on the table by hands and place them into the yellow basin. +task_result: 'null' +task_instruction: pick the bowls on the table by hands and place them into the yellow + basin. sub_tasks: -- subtask: Grasp the pink bowl with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the white bowl with the right gripper - subtask_index: 2 -- subtask: Place the pink bowl into the yellow storage box with the left gripper - subtask_index: 3 -- subtask: Place the white bowl into the yellow storage box with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the pink bowl with the left gripper +- End +- Grasp the white bowl with the right gripper +- Place the pink bowl into the yellow storage box with the left gripper +- Place the white bowl into the yellow storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 46 total_frames: 10955 fps: 30 @@ -121,9 +119,11 @@ data_structure: "Airbot_MMK2_storage_bowl_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:45 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +428,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick the bowls on the table by hands and place them into the yellow basin. + sub_tasks: + - subtask: Grasp the pink bowl with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the white bowl with the right gripper + subtask_index: 2 + - subtask: Place the pink bowl into the yellow storage box with the left gripper + subtask_index: 3 + - subtask: Place the white bowl into the yellow storage box with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10955 + dataset_size: 432.12 MB + data_structure: "Airbot_MMK2_storage_bowl_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (34 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml index 798854f377d2578c7625c3134896b066290175dc..7cd536636facca39cc4a3219a3ac8f6fb6ec23ef 100644 --- a/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml +++ b/dataset_info/Airbot_MMK2_storage_bowl_wet_wipes.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -57,38 +57,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the bowl and wet wipes on the plate. +task_result: 'null' +task_instruction: put the bowl and wet wipes on the plate. sub_tasks: -- subtask: Place the wet wipes into the bowl with the left gripper - subtask_index: 0 -- subtask: Place the bowl on the plate with the right gripper - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Grasp the wet wipes with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the bowl with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the wet wipes into the bowl with the left gripper +- Place the bowl on the plate with the right gripper +- Static +- Grasp the wet wipes with the left gripper +- End +- Grasp the bowl with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -97,10 +89,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -108,7 +103,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 13058 fps: 30 @@ -195,9 +191,11 @@ data_structure: 'Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -467,7 +465,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -475,6 +473,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -501,6 +500,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_bowl_wet_wipes + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the bowl and wet wipes on the plate. + sub_tasks: + - subtask: Place the wet wipes into the bowl with the left gripper + subtask_index: 0 + - subtask: Place the bowl on the plate with the right gripper + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Grasp the wet wipes with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the bowl with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13058 + dataset_size: 425.41 MB + data_structure: 'Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml index fa47a3128e83b94cf9cf97985febdd13c3c06b1a..b57ed564f6e624b7aa41605765fae6330e01f8b8 100644 --- a/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml +++ b/dataset_info/Airbot_MMK2_storage_braised_pork_belly_shrimp.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: shrimp level1: prepared_dishes level2: shrimp @@ -51,38 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the braised pork and shrimp on the plate +task_result: 'null' +task_instruction: put the braised pork and shrimp on the plate sub_tasks: -- subtask: Place the braised pork in brown sauce into the plate with the left gripper - subtask_index: 0 -- subtask: Grasp the shrimp with the right gripper - subtask_index: 1 -- subtask: Place the shrimp into the plate with the right gripper - subtask_index: 2 -- subtask: Grasp the cake from the table and with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the braised pork in brown sauce with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the braised pork in brown sauce into the plate with the left gripper +- Grasp the shrimp with the right gripper +- Place the shrimp into the plate with the right gripper +- Grasp the cake from the table and with the left gripper +- End +- Grasp the braised pork in brown sauce with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 38 total_frames: 5834 fps: 30 @@ -189,9 +185,11 @@ data_structure: 'Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:37 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -461,7 +459,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -469,6 +467,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -495,6 +494,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_braised_pork_belly_shrimp + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the braised pork and shrimp on the plate + sub_tasks: + - subtask: Place the braised pork in brown sauce into the plate with the left gripper + subtask_index: 0 + - subtask: Grasp the shrimp with the right gripper + subtask_index: 1 + - subtask: Place the shrimp into the plate with the right gripper + subtask_index: 2 + - subtask: Grasp the cake from the table and with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the braised pork in brown sauce with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5834 + dataset_size: 277.59 MB + data_structure: 'Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (26 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml index 41e0db99e853cb49f484c20537dca77e93ad556b..14a10255900a4b773b0f990b7b54700bca7786b1 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,38 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put two cakes in the lid. +task_result: 'null' +task_instruction: put two cakes in the lid. sub_tasks: -- subtask: Grasp the cake with the left gripper - subtask_index: 0 -- subtask: Place the cake on the white basket with the right gripper - subtask_index: 1 -- subtask: Grasp the cake with the right gripper - subtask_index: 2 -- subtask: Place the cake on the white basket with the left gripper - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the cake with the left gripper +- Place the cake on the white basket with the right gripper +- Grasp the cake with the right gripper +- Place the cake on the white basket with the left gripper +- Static +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 4445 fps: 30 @@ -130,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_cake_both_hands_qced_hardlink/\n|-- annotat \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +435,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put two cakes in the lid. + sub_tasks: + - subtask: Grasp the cake with the left gripper + subtask_index: 0 + - subtask: Place the cake on the white basket with the right gripper + subtask_index: 1 + - subtask: Grasp the cake with the right gripper + subtask_index: 2 + - subtask: Place the cake on the white basket with the left gripper + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 4445 + dataset_size: 188.05 MB + data_structure: "Airbot_MMK2_storage_cake_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cake_box.yaml b/dataset_info/Airbot_MMK2_storage_cake_box.yaml index 07448b6dea2a9b9b595aecdc854e5ad34fcd2b03..82c7ccab6879fcf15c59c14e8956e0cdd5807fcc 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_box.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: flip_top_paper_boxes level1: packaging level2: flip_top_paper_boxes @@ -45,34 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- open the box with left hand and put the cake in with your right. +task_result: 'null' +task_instruction: open the box with left hand and put the cake in with your right. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the cake with the right gripper - subtask_index: 1 -- subtask: Open the lid of the box with the left gripper - subtask_index: 2 -- subtask: Place the cake into the box with the right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Grasp the cake with the right gripper +- Open the lid of the box with the left gripper +- Place the cake into the box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -81,10 +75,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -92,7 +89,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 10329 fps: 30 @@ -120,9 +118,11 @@ data_structure: "Airbot_MMK2_storage_cake_box_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -392,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -400,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -426,6 +427,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - open the box with left hand and put the cake in with your right. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the cake with the right gripper + subtask_index: 1 + - subtask: Open the lid of the box with the left gripper + subtask_index: 2 + - subtask: Place the cake into the box with the right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10329 + dataset_size: 283.14 MB + data_structure: "Airbot_MMK2_storage_cake_box_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cake_cup.yaml b/dataset_info/Airbot_MMK2_storage_cake_cup.yaml index 1cfd7a6d22bbf316539ecae89f45f19877dd8b55..7b8f59bfdc1f66ba6e81fc206089dc614b63ee16 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_cup.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cup level1: cups level2: cup @@ -45,40 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the ice cream into the cup +task_result: 'null' +task_instruction: put the ice cream into the cup sub_tasks: -- subtask: Place the cake into the blue cup with the right gripper - subtask_index: 0 -- subtask: Grasp the cake with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Grasp the cake with the right gripper - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: Place the cake into the blue cup with the left gripper - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the cake into the blue cup with the right gripper +- Grasp the cake with the left gripper +- Abnormal +- Grasp the cake with the right gripper +- Static +- Place the cake into the blue cup with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 18739 fps: 30 @@ -185,9 +180,11 @@ data_structure: 'Airbot_MMK2_storage_cake_cup_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -457,7 +454,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -465,6 +462,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -491,6 +489,195 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: catering + level2: cafe + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the ice cream into the cup + sub_tasks: + - subtask: Place the cake into the blue cup with the right gripper + subtask_index: 0 + - subtask: Grasp the cake with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Grasp the cake with the right gripper + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: Place the cake into the blue cup with the left gripper + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 18739 + dataset_size: 730.92 MB + data_structure: 'Airbot_MMK2_storage_cake_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml b/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml index a9fe6d5e72c8b0bfb59a2ae1d789713e9a46bcd7..fafb4a76950131b3031e8a35860025b26ed3f64b 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_ice_cream.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: plate level1: kitchen_supplies level2: plate @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the cake and ice cream into the plate respectively with left and right hands. +task_result: 'null' +task_instruction: put the cake and ice cream into the plate respectively with left + and right hands. sub_tasks: -- subtask: Grasp the ice cream with the right gripper - subtask_index: 0 -- subtask: Place the ice cream into the white basket with the right gripper - subtask_index: 1 -- subtask: Grasp the cake with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the cake into the white basket with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the ice cream with the right gripper +- Place the ice cream into the white basket with the right gripper +- Grasp the cake with the left gripper +- End +- Place the cake into the white basket with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 11989 fps: 30 @@ -187,9 +185,11 @@ data_structure: 'Airbot_MMK2_storage_cake_ice_cream_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -459,7 +459,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -467,6 +467,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -493,6 +494,191 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_ice_cream + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the cake and ice cream into the plate respectively with left and right hands. + sub_tasks: + - subtask: Grasp the ice cream with the right gripper + subtask_index: 0 + - subtask: Place the ice cream into the white basket with the right gripper + subtask_index: 1 + - subtask: Grasp the cake with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the cake into the white basket with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11989 + dataset_size: 571.59 MB + data_structure: 'Airbot_MMK2_storage_cake_ice_cream_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cake_pan.yaml b/dataset_info/Airbot_MMK2_storage_cake_pan.yaml index b2799cc9d722783b550148a4ea30d046717a5008..28bf8e76c3fa22b3292e8fee05f0afc502773984 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_pan.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_pan.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pan level1: kitchen_supplies level2: pan @@ -45,36 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the pot down with left hand and place the cake in it with right hand. +task_result: 'null' +task_instruction: put the pot down with left hand and place the cake in it with right + hand. sub_tasks: -- subtask: Grasp the frying pan with the left gripper - subtask_index: 0 -- subtask: Grasp the bread with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the bread on the frying pan with the right gripper - subtask_index: 3 -- subtask: Place the frying pan on the table with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the frying pan with the left gripper +- Grasp the bread with the right gripper +- End +- Place the bread on the frying pan with the right gripper +- Place the frying pan on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 8832 fps: 30 @@ -122,9 +120,11 @@ data_structure: "Airbot_MMK2_storage_cake_pan_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -394,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -402,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -428,6 +429,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_pan + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the pot down with left hand and place the cake in it with right hand. + sub_tasks: + - subtask: Grasp the frying pan with the left gripper + subtask_index: 0 + - subtask: Grasp the bread with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the bread on the frying pan with the right gripper + subtask_index: 3 + - subtask: Place the frying pan on the table with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8832 + dataset_size: 250.91 MB + data_structure: "Airbot_MMK2_storage_cake_pan_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cake_plate.yaml b/dataset_info/Airbot_MMK2_storage_cake_plate.yaml index a1d7f68522bccf8fa9fbe04e3ff1a6ee14048b2d..d68b11773e2f3cb9412495bd7552c2d7b49d267b 100644 --- a/dataset_info/Airbot_MMK2_storage_cake_plate.yaml +++ b/dataset_info/Airbot_MMK2_storage_cake_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: bread level2: cake @@ -45,40 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the cake into the plate with left and right hand respectively. +task_result: 'null' +task_instruction: put the cake into the plate with left and right hand respectively. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Grasp the bagged cake with the left gripper - subtask_index: 1 -- subtask: Place the bagged cake on the white plate with the right gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the bagged cake with the right gripper - subtask_index: 5 -- subtask: Place the bagged cake on the white plate with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Abnormal +- Grasp the bagged cake with the left gripper +- Place the bagged cake on the white plate with the right gripper +- Static +- End +- Grasp the bagged cake with the right gripper +- Place the bagged cake on the white plate with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6430 fps: 30 @@ -126,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_cake_plate_qced_hardlink/\n|-- annotations\ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +430,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cake_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the cake into the plate with left and right hand respectively. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Grasp the bagged cake with the left gripper + subtask_index: 1 + - subtask: Place the bagged cake on the white plate with the right gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the bagged cake with the right gripper + subtask_index: 5 + - subtask: Place the bagged cake on the white plate with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6430 + dataset_size: 280.75 MB + data_structure: "Airbot_MMK2_storage_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml b/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml index 9095a4727be7c265e94a3d050692e5f23aa95c9c..24d520d5eb4d7dc121a50a0ced585b228447bcf7 100644 --- a/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml +++ b/dataset_info/Airbot_MMK2_storage_cookie_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: plate level1: kitchen_supplies level2: plate @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the cookies and beer into the plate respectively with left and right hands. +task_result: 'null' +task_instruction: put the cookies and beer into the plate respectively with left and + right hands. sub_tasks: -- subtask: Place the beer mug on the white basket with the right gripper - subtask_index: 0 -- subtask: Place the bagged cookies on the white basket with the left gripper - subtask_index: 1 -- subtask: Grasp the bagged cookies with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Grasp the beer mug with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the beer mug on the white basket with the right gripper +- Place the bagged cookies on the white basket with the left gripper +- Grasp the bagged cookies with the left gripper +- End +- Grasp the beer mug with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 9983 fps: 30 @@ -128,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_cookie_cup_qced_hardlink/\n|-- annotations\ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +435,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cookie_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the cookies and beer into the plate respectively with left and right hands. + sub_tasks: + - subtask: Place the beer mug on the white basket with the right gripper + subtask_index: 0 + - subtask: Place the bagged cookies on the white basket with the left gripper + subtask_index: 1 + - subtask: Grasp the bagged cookies with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Grasp the beer mug with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9983 + dataset_size: 488.86 MB + data_structure: "Airbot_MMK2_storage_cookie_cup_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml index 44e760798f69b630af329bdba3393a54f304fbe9..901dc80736ea68401040a78d4bf882a1f6a3014d 100644 --- a/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_storage_cookie_toy_car.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -57,43 +57,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the toy car with left hand and put it in the basket, then pick up the cookie - with right hand and put it in the basket. +task_result: 'null' +task_instruction: pick up the toy car with left hand and put it in the basket, then + pick up the cookie with right hand and put it in the basket. sub_tasks: -- subtask: Lift the toy car with left gripper and lift the cookies with the right - gripper - subtask_index: 0 -- subtask: Grasp the toy car with left gripper and grasp the cookies with the right - gripper - subtask_index: 1 -- subtask: Place the toy car on the pink plate with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Place the cookies on the pink plate with the right gripper - subtask_index: 4 -- subtask: Static - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Lift the toy car with left gripper and lift the cookies with the right gripper +- Grasp the toy car with left gripper and grasp the cookies with the right gripper +- Place the toy car on the pink plate with the left gripper +- Abnormal +- Place the cookies on the pink plate with the right gripper +- Static +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -102,10 +91,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -113,7 +105,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 8388 fps: 30 @@ -141,9 +134,11 @@ data_structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n|-- annotati \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -413,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -421,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -447,6 +443,139 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cookie_toy_car + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the toy car with left hand and put it in the basket, then pick up the + cookie with right hand and put it in the basket. + sub_tasks: + - subtask: Lift the toy car with left gripper and lift the cookies with the right + gripper + subtask_index: 0 + - subtask: Grasp the toy car with left gripper and grasp the cookies with the right + gripper + subtask_index: 1 + - subtask: Place the toy car on the pink plate with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Place the cookies on the pink plate with the right gripper + subtask_index: 4 + - subtask: Static + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8388 + dataset_size: 277.71 MB + data_structure: "Airbot_MMK2_storage_cookie_toy_car_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_cup.yaml b/dataset_info/Airbot_MMK2_storage_cup.yaml index 49d127b50bf66e5d43d52af2b644dfc58a542416..5f8aec0961bbd8efb4c8fce6848b7b7cf2dc7555 100644 --- a/dataset_info/Airbot_MMK2_storage_cup.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: any_cup level1: cups level2: any_cup @@ -45,46 +45,34 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the two cups in the basin. +task_result: 'null' +task_instruction: put the two cups in the basin. sub_tasks: -- subtask: place the cup in the yellow basket use the right gripper - subtask_index: 0 -- subtask: Grasp the cup the left gripper - subtask_index: 1 -- subtask: Lift the cup the right gripper - subtask_index: 2 -- subtask: place the cup in the basin use the left gripper - subtask_index: 3 -- subtask: Grasp the cup the right gripper - subtask_index: 4 -- subtask: place the cup in the yellow basket use the left gripper - subtask_index: 5 -- subtask: place the cup in the basin use the right gripper - subtask_index: 6 -- subtask: Static - subtask_index: 7 -- subtask: Lift the cup the left gripper - subtask_index: 8 -- subtask: End - subtask_index: 9 -- subtask: 'null' - subtask_index: 10 +- place the cup in the yellow basket use the right gripper +- Grasp the cup the left gripper +- Lift the cup the right gripper +- place the cup in the basin use the left gripper +- Grasp the cup the right gripper +- place the cup in the yellow basket use the left gripper +- place the cup in the basin use the right gripper +- Static +- Lift the cup the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +81,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 20190 fps: 30 @@ -131,9 +123,11 @@ data_structure: "Airbot_MMK2_storage_cup_qced_hardlink/\n|-- annotations\n| |- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +397,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +405,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +432,142 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the two cups in the basin. + sub_tasks: + - subtask: place the cup in the yellow basket use the right gripper + subtask_index: 0 + - subtask: Grasp the cup the left gripper + subtask_index: 1 + - subtask: Lift the cup the right gripper + subtask_index: 2 + - subtask: place the cup in the basin use the left gripper + subtask_index: 3 + - subtask: Grasp the cup the right gripper + subtask_index: 4 + - subtask: place the cup in the yellow basket use the left gripper + subtask_index: 5 + - subtask: place the cup in the basin use the right gripper + subtask_index: 6 + - subtask: Static + subtask_index: 7 + - subtask: Lift the cup the left gripper + subtask_index: 8 + - subtask: End + subtask_index: 9 + - subtask: 'null' + subtask_index: 10 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 20190 + dataset_size: 802.42 MB + data_structure: "Airbot_MMK2_storage_cup_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cup_plate.yaml b/dataset_info/Airbot_MMK2_storage_cup_plate.yaml index 0c39552736ea10cabf8d578b76679abb42db9a49..64d928c3f41dfc740448ebcc6e88fbfc66f1a9b1 100644 --- a/dataset_info/Airbot_MMK2_storage_cup_plate.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: any_cup level1: cups level2: any_cup @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the cups on the table by hand and place them on the white plate. +task_result: 'null' +task_instruction: pick up the cups on the table by hand and place them on the white + plate. sub_tasks: -- subtask: Grasp the purple cup with the right gripper - subtask_index: 0 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 1 -- subtask: Place the blue cup on the plate with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Place the purple cup on the blue cup with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the purple cup with the right gripper +- Grasp the blue cup with the left gripper +- Place the blue cup on the plate with the left gripper +- Abnormal +- Place the purple cup on the blue cup with the right gripper +- End +- 'null' atomic_actions: - clip - place - lift -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 44 total_frames: 11727 fps: 30 @@ -124,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_cup_plate_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:43 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +430,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cup_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the cups on the table by hand and place them on the white plate. + sub_tasks: + - subtask: Grasp the purple cup with the right gripper + subtask_index: 0 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 1 + - subtask: Place the blue cup on the plate with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Place the purple cup on the blue cup with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - clip + - place + - lift + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11727 + dataset_size: 500.23 MB + data_structure: "Airbot_MMK2_storage_cup_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (32 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml b/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml index bd9f0e96055bd8d69d896649380c448c65e9716e..a025544218f710c49e89060079b8503e5b01bb5f 100644 --- a/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup_rubik's_cube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: plate level1: kitchen_supplies level2: plate @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the rubik's Cube into the plate with right hand and place the cup on top of - the cube with left hand. +task_result: 'null' +task_instruction: put the rubik's Cube into the plate with right hand and place the + cup on top of the cube with left hand. sub_tasks: -- subtask: Grasp the paper cup with the left gripper - subtask_index: 0 -- subtask: Place the paper cup on the magic cube with the left gripper - subtask_index: 1 -- subtask: Place the magic cube on the plate with the right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Grasp the magic cube with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the paper cup with the left gripper +- Place the paper cup on the magic cube with the left gripper +- Place the magic cube on the plate with the right gripper +- Abnormal +- Grasp the magic cube with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 13787 fps: 30 @@ -131,9 +127,11 @@ data_structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +436,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_cup_rubik's_cube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the rubik's Cube into the plate with right hand and place the cup on top of + the cube with left hand. + sub_tasks: + - subtask: Grasp the paper cup with the left gripper + subtask_index: 0 + - subtask: Place the paper cup on the magic cube with the left gripper + subtask_index: 1 + - subtask: Place the magic cube on the plate with the right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Grasp the magic cube with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13787 + dataset_size: 387.14 MB + data_structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml index 8a25c31a6cc31d4b4db0c5e142791fcb5128bbe8..cc43debd6bf7d97fabe37d138ed5b4acc7d8a0c2 100644 --- a/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml +++ b/dataset_info/Airbot_MMK2_storage_cup_rubik_s_cube.yaml @@ -1,15 +1,35 @@ -path: Airbot_MMK2_storage_cup_rubik_s_cube +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: Airbot_MMK2_storage_cup_rubik's_cube -robot_type: '' -end_effector_type: -- five_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the paper cup with the left gripper -objects: +dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: plate level1: kitchen_supplies level2: plate @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-13787 -dataset_size: 386.7MB -statistics: - total_episodes: 47 - total_frames: 13787 - total_tasks: 1 - total_videos: 188 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the paper cup with the left gripper sub_tasks: - Grasp the paper cup with the left gripper - Place the paper cup on the magic cube with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Grasp the magic cube with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 47 + total_frames: 13787 + total_tasks: 1 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 13787 +dataset_size: 386.7MB +data_structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,46 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Airbot_MMK2_storage_cup_rubik_s_cube + dataset_name: Airbot_MMK2_storage_cup_rubik's_cube + robot_type: '' + end_effector_type: + - five_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the paper cup with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-13787 + dataset_size: 386.7MB + statistics: *id002 + dataset_uuid: 6a7c4463-732e-44f8-a049-646bab9ac3e4 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the paper cup with the left gripper + - Place the paper cup on the magic cube with the left gripper + - Place the magic cube on the plate with the right gripper + - Abnormal + - Grasp the magic cube with the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml b/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml index d4d543b7248eb9435a63052fce9d15d85d627853..ea27ac11b6cbf6ffa20d95777a13a3c384cde84f 100644 --- a/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml +++ b/dataset_info/Airbot_MMK2_storage_diamond_ring.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: diamond_ring level1: daily_necessities level2: diamond_ring @@ -45,35 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the ring into the box. +task_result: 'null' +task_instruction: put the ring into the box. sub_tasks: -- subtask: Place the diamond ring in the box with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Close the lid of the box with the left gripper - subtask_index: 2 -- subtask: Grasp the diamond ring with the right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Place the diamond ring in the box with the right gripper +- End +- Close the lid of the box with the left gripper +- Grasp the diamond ring with the right gripper +- 'null' atomic_actions: - grasp - place - pick - turn -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -82,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -93,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9131 fps: 30 @@ -121,9 +119,11 @@ data_structure: "Airbot_MMK2_storage_diamond_ring_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +428,131 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_diamond_ring + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the ring into the box. + sub_tasks: + - subtask: Place the diamond ring in the box with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Close the lid of the box with the left gripper + subtask_index: 2 + - subtask: Grasp the diamond ring with the right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - place + - pick + - turn + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9131 + dataset_size: 426.97 MB + data_structure: "Airbot_MMK2_storage_diamond_ring_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml index 53f33762ba91334bb1691f4bef398e1e48c05573..1ccd9d9aa6dde9bf35e920c3cc3c7dcd21deab93 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: egg level1: food level2: egg @@ -45,38 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use hands to pick the egg on the table and place them into the bowl. +task_result: 'null' +task_instruction: use hands to pick the egg on the table and place them into the bowl. sub_tasks: -- subtask: Grasp the egg with the left gripper - subtask_index: 0 -- subtask: Place the egg into bowl with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Place the egg into bowl with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the egg with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the egg with the left gripper +- Place the egg into bowl with the right gripper +- Abnormal +- Place the egg into bowl with the left gripper +- End +- Grasp the egg with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 11572 fps: 30 @@ -124,9 +120,11 @@ data_structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +429,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_egg_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use hands to pick the egg on the table and place them into the bowl. + sub_tasks: + - subtask: Grasp the egg with the left gripper + subtask_index: 0 + - subtask: Place the egg into bowl with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Place the egg into bowl with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the egg with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11572 + dataset_size: 444.71 MB + data_structure: "Airbot_MMK2_storage_egg_bowl_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml index 73b4a5a08abc299c65aaca5dd6a6ff178542e141..6d877abd5b14e8e1ee92feaa5ec670fc17bf7900 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_plate.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: egg level1: food level2: egg @@ -45,40 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use hands to pick the egg on the table and place them into the plate. +task_result: 'null' +task_instruction: use hands to pick the egg on the table and place them into the plate. sub_tasks: -- subtask: Place the egg into the plate with the right gripper - subtask_index: 0 -- subtask: Grasp the egg with the left gripper - subtask_index: 1 -- subtask: Place the egg into the plate with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Place the cake into the plate with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the egg with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the egg into the plate with the right gripper +- Grasp the egg with the left gripper +- Place the egg into the plate with the left gripper +- Abnormal +- Place the cake into the plate with the right gripper +- End +- Grasp the egg with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 45 total_frames: 7564 fps: 30 @@ -126,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:44 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +430,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_egg_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use hands to pick the egg on the table and place them into the plate. + sub_tasks: + - subtask: Place the egg into the plate with the right gripper + subtask_index: 0 + - subtask: Grasp the egg with the left gripper + subtask_index: 1 + - subtask: Place the egg into the plate with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Place the cake into the plate with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the egg with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7564 + dataset_size: 345.41 MB + data_structure: "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (33 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml b/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml index 8b998c18a70413d4cb56c260e96f5c32c69389d2..aa67b0a7b4e77ed795c44ba9a53c6cfddc70deb2 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_white_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: egg level1: food level2: eggs @@ -45,40 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use hands to pick the egg on the table and place them into the storage box. +task_result: 'null' +task_instruction: use hands to pick the egg on the table and place them into the storage + box. sub_tasks: -- subtask: Place the egg into the left compartment of the storage box with the left - gripper - subtask_index: 0 -- subtask: Grasp the egg with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the egg with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Place the egg into the right compartment of the storage box with the right - gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the egg into the left compartment of the storage box with the left gripper +- Grasp the egg with the left gripper +- End +- Grasp the egg with the right gripper +- Abnormal +- Place the egg into the right compartment of the storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 43 total_frames: 6645 fps: 30 @@ -126,9 +121,11 @@ data_structure: "Airbot_MMK2_storage_egg_white_box_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:42 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +430,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_egg_white_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use hands to pick the egg on the table and place them into the storage box. + sub_tasks: + - subtask: Place the egg into the left compartment of the storage box with the left + gripper + subtask_index: 0 + - subtask: Grasp the egg with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the egg with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Place the egg into the right compartment of the storage box with the + right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6645 + dataset_size: 173.88 MB + data_structure: "Airbot_MMK2_storage_egg_white_box_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (31 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml b/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml index 5f6bdd9a5f848d335655da2465eb29faf3d7091c..69c46bc360ac33d9d9b21949ac2a1fc598b13b30 100644 --- a/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml +++ b/dataset_info/Airbot_MMK2_storage_egg_yellow_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: egg level1: food level2: egg @@ -45,36 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use hands to pick the egg on the table and place them into the egg carton. +task_result: 'null' +task_instruction: use hands to pick the egg on the table and place them into the egg + carton. sub_tasks: -- subtask: Close the lid of the egg storage box with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the egg into the egg storage box with the right gripper - subtask_index: 2 -- subtask: Grasp the egg with the right gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Close the lid of the egg storage box with the left gripper +- End +- Place the egg into the egg storage box with the right gripper +- Grasp the egg with the right gripper +- Abnormal +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 249 total_frames: 68503 fps: 30 @@ -122,9 +120,11 @@ data_structure: "Airbot_MMK2_storage_egg_yellow_box_qced_hardlink/\n|-- annotati \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:248 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -394,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -402,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -428,6 +429,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_egg_yellow_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use hands to pick the egg on the table and place them into the egg carton. + sub_tasks: + - subtask: Close the lid of the egg storage box with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the egg into the egg storage box with the right gripper + subtask_index: 2 + - subtask: Grasp the egg with the right gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 68503 + dataset_size: 2.69 GB + data_structure: "Airbot_MMK2_storage_egg_yellow_box_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (237 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml index dd5cba71951911d03a5fad9fd50c3b94908cea6a..9404daf1018790b42fe4eaa430fcf3d8d3fe7eb9 100644 --- a/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml +++ b/dataset_info/Airbot_MMK2_storage_electronics_white_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: packaging level2: paper_boxes @@ -45,34 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the mouse box and the calculator box into the white basket by hand. +task_result: 'null' +task_instruction: put the mouse box and the calculator box into the white basket by + hand. sub_tasks: -- subtask: Deliver the calculator box from left gripper to right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the calculator box with the left gripper - subtask_index: 2 -- subtask: Place the calculator box into the white basket with the right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Deliver the calculator box from left gripper to right gripper +- End +- Grasp the calculator box with the left gripper +- Place the calculator box into the white basket with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -81,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -92,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 10024 fps: 30 @@ -120,9 +119,11 @@ data_structure: "Airbot_MMK2_storage_electronics_white_basket_qced_hardlink/\n|- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -392,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -400,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -426,6 +428,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_electronics_white_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the mouse box and the calculator box into the white basket by hand. + sub_tasks: + - subtask: Deliver the calculator box from left gripper to right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the calculator box with the left gripper + subtask_index: 2 + - subtask: Place the calculator box into the white basket with the right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10024 + dataset_size: 363.92 MB + data_structure: "Airbot_MMK2_storage_electronics_white_basket_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml index 3d45f082757b56e6103eff76f5ad5b7f2a74d212..d75a0eba9dba2b2c33e056dcc70069bf1ec11d8e 100644 --- a/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml +++ b/dataset_info/Airbot_MMK2_storage_electronics_yellow_baket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: packaging level2: paper_boxes @@ -45,50 +45,36 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the electronic products components into the yellow basket. +task_result: 'null' +task_instruction: put the electronic products components into the yellow basket. sub_tasks: -- subtask: Place the calculator box into the storage box with the left gripper - subtask_index: 0 -- subtask: Grasp the calculator box with the left gripper - subtask_index: 1 -- subtask: Place the calculator box into the storage box with the right gripper - subtask_index: 2 -- subtask: Place the phone case box into the storage box with the right gripper - subtask_index: 3 -- subtask: Place the phone case box in the yellow box with the right gripper - subtask_index: 4 -- subtask: Place the phone case box into the storage box with the left gripper - subtask_index: 5 -- subtask: Abnormal - subtask_index: 6 -- subtask: Place the calculator box in the yellow box with the left gripper - subtask_index: 7 -- subtask: Grasp the calculator box with the right gripper - subtask_index: 8 -- subtask: Grasp the phone case box with the right gripper - subtask_index: 9 -- subtask: End - subtask_index: 10 -- subtask: Grasp the phone case box with the left gripper - subtask_index: 11 -- subtask: 'null' - subtask_index: 12 +- Place the calculator box into the storage box with the left gripper +- Grasp the calculator box with the left gripper +- Place the calculator box into the storage box with the right gripper +- Place the phone case box into the storage box with the right gripper +- Place the phone case box in the yellow box with the right gripper +- Place the phone case box into the storage box with the left gripper +- Abnormal +- Place the calculator box in the yellow box with the left gripper +- Grasp the calculator box with the right gripper +- Grasp the phone case box with the right gripper +- End +- Grasp the phone case box with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -97,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -108,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 25739 fps: 30 @@ -136,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n|- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -408,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -416,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -442,6 +435,146 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_electronics_yellow_baket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the electronic products components into the yellow basket. + sub_tasks: + - subtask: Place the calculator box into the storage box with the left gripper + subtask_index: 0 + - subtask: Grasp the calculator box with the left gripper + subtask_index: 1 + - subtask: Place the calculator box into the storage box with the right gripper + subtask_index: 2 + - subtask: Place the phone case box into the storage box with the right gripper + subtask_index: 3 + - subtask: Place the phone case box in the yellow box with the right gripper + subtask_index: 4 + - subtask: Place the phone case box into the storage box with the left gripper + subtask_index: 5 + - subtask: Abnormal + subtask_index: 6 + - subtask: Place the calculator box in the yellow box with the left gripper + subtask_index: 7 + - subtask: Grasp the calculator box with the right gripper + subtask_index: 8 + - subtask: Grasp the phone case box with the right gripper + subtask_index: 9 + - subtask: End + subtask_index: 10 + - subtask: Grasp the phone case box with the left gripper + subtask_index: 11 + - subtask: 'null' + subtask_index: 12 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 25739 + dataset_size: 879.43 MB + data_structure: "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml index c06b1861af96ff38865402db9a3daf9fd2fd20aa..38d89176f8bc49b506444e8befad6c1b21149cbe 100644 --- a/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml +++ b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: packaging level2: paper_boxes @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the shark doll and the gold bar into the paper box respectively with left and - right hands. +task_result: 'null' +task_instruction: put the shark doll and the gold bar into the paper box respectively + with left and right hands. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the whale on the paper box with the left gripper - subtask_index: 1 -- subtask: Place the gold bar on the paper box with the right gripper - subtask_index: 2 -- subtask: Grasp the whale with the left gripper - subtask_index: 3 -- subtask: Grasp the gold bar with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Place the whale on the paper box with the left gripper +- Place the gold bar on the paper box with the right gripper +- Grasp the whale with the left gripper +- Grasp the gold bar with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 44 total_frames: 5620 fps: 30 @@ -129,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_gold_bar_model_shark_doll_qced_hardlink/\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:43 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_gold_bar_model_shark_doll + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the shark doll and the gold bar into the paper box respectively with left + and right hands. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the whale on the paper box with the left gripper + subtask_index: 1 + - subtask: Place the gold bar on the paper box with the right gripper + subtask_index: 2 + - subtask: Grasp the whale with the left gripper + subtask_index: 3 + - subtask: Grasp the gold bar with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5620 + dataset_size: 240.37 MB + data_structure: "Airbot_MMK2_storage_gold_bar_model_shark_doll_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (32 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_grape.yaml b/dataset_info/Airbot_MMK2_storage_grape.yaml index 8d285763adecce2e420376fac4ebe03fdc27ad0c..43bc60554b2f56312852a8059816b6f494bc6848 100644 --- a/dataset_info/Airbot_MMK2_storage_grape.yaml +++ b/dataset_info/Airbot_MMK2_storage_grape.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: grape level1: fruits level2: grape @@ -45,32 +45,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the grapes into the white box by hand. +task_result: 'null' +task_instruction: put the grapes into the white box by hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the grape with the right gripper - subtask_index: 1 -- subtask: Place the grape into the storage box with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Grasp the grape with the right gripper +- Place the grape into the storage box with the right gripper +- 'null' atomic_actions: - pinch - place - lift -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +74,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +88,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 5721 fps: 30 @@ -117,9 +116,11 @@ data_structure: "Airbot_MMK2_storage_grape_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +390,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +398,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +425,128 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_grape + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the grapes into the white box by hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the grape with the right gripper + subtask_index: 1 + - subtask: Place the grape into the storage box with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - pinch + - place + - lift + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5721 + dataset_size: 150.48 MB + data_structure: "Airbot_MMK2_storage_grape_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_hourglass.yaml b/dataset_info/Airbot_MMK2_storage_hourglass.yaml index 060c70be11bd1989045f3bbb125a48dc75f93259..5f1d8804e527e7c2eab06e80f2c8e4db0db23f49 100644 --- a/dataset_info/Airbot_MMK2_storage_hourglass.yaml +++ b/dataset_info/Airbot_MMK2_storage_hourglass.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: hourglass level1: toys level2: hourglass @@ -45,33 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the hourglass in the storage box with right hand. +task_result: 'null' +task_instruction: place the hourglass in the storage box with right hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the hourglass into the right compartment of the storage box with - the right gripper - subtask_index: 1 -- subtask: Grasp the hourglass with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Place the hourglass into the right compartment of the storage box with the right + gripper +- Grasp the hourglass with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -80,10 +75,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -91,7 +89,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 7471 fps: 30 @@ -119,9 +118,11 @@ data_structure: "Airbot_MMK2_storage_hourglass_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -391,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -399,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -425,6 +427,129 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_hourglass + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the hourglass in the storage box with right hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the hourglass into the right compartment of the storage box with + the right gripper + subtask_index: 1 + - subtask: Grasp the hourglass with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7471 + dataset_size: 236.31 MB + data_structure: "Airbot_MMK2_storage_hourglass_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_ice_cream.yaml b/dataset_info/Airbot_MMK2_storage_ice_cream.yaml index fa5b972145504dd9a7ad31906d6601d935a11026..75e15f2762af3a3477a345f42d1f99e97b0729f6 100644 --- a/dataset_info/Airbot_MMK2_storage_ice_cream.yaml +++ b/dataset_info/Airbot_MMK2_storage_ice_cream.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: ice_cream level1: snacks level2: ice_cream @@ -45,40 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the ice cream into the storage box with left and right hands respectively. +task_result: 'null' +task_instruction: put the ice cream into the storage box with left and right hands + respectively. sub_tasks: -- subtask: Grasp the ice cream with the right gripper - subtask_index: 0 -- subtask: Place the ice cream into the white basket with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the ice cream into the white basket with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the ice cream with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the ice cream with the right gripper +- Place the ice cream into the white basket with the right gripper +- Abnormal +- Static +- Place the ice cream into the white basket with the left gripper +- End +- Grasp the ice cream with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 7639 fps: 30 @@ -126,9 +122,11 @@ data_structure: "Airbot_MMK2_storage_ice_cream_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +431,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_ice_cream + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the ice cream into the storage box with left and right hands respectively. + sub_tasks: + - subtask: Grasp the ice cream with the right gripper + subtask_index: 0 + - subtask: Place the ice cream into the white basket with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the ice cream into the white basket with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the ice cream with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7639 + dataset_size: 307.05 MB + data_structure: "Airbot_MMK2_storage_ice_cream_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml b/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml index 79a9e5c328dac87461447601c0c98eb1b5f15f02..c01f2ec522b76dcca1ad85acbf667f72b2654148 100644 --- a/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml +++ b/dataset_info/Airbot_MMK2_storage_lemon_mango.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: lemon level1: fruits level2: lemon @@ -51,40 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- grab the mango with left hand and the lemon with right hand, and put them into the - storage box. +task_result: 'null' +task_instruction: grab the mango with left hand and the lemon with right hand, and + put them into the storage box. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the lemon into the right compartment of the storage box with the - right gripper - subtask_index: 1 -- subtask: Place the mango into the left compartment of the storage box with the - left gripper - subtask_index: 2 -- subtask: Grasp the mango with the left gripper - subtask_index: 3 -- subtask: Grasp the lemon with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Place the lemon into the right compartment of the storage box with the right gripper +- Place the mango into the left compartment of the storage box with the left gripper +- Grasp the mango with the left gripper +- Grasp the lemon with the right gripper +- 'null' atomic_actions: - pinch - place - clip - lift -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 7685 fps: 30 @@ -132,9 +127,11 @@ data_structure: "Airbot_MMK2_storage_lemon_mango_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +436,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_lemon_mango + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - grab the mango with left hand and the lemon with right hand, and put them into + the storage box. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the lemon into the right compartment of the storage box with the + right gripper + subtask_index: 1 + - subtask: Place the mango into the left compartment of the storage box with the + left gripper + subtask_index: 2 + - subtask: Grasp the mango with the left gripper + subtask_index: 3 + - subtask: Grasp the lemon with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - pinch + - place + - clip + - lift + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7685 + dataset_size: 201.65 MB + data_structure: "Airbot_MMK2_storage_lemon_mango_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml index aa8e5138b94844c3c2465b2e7d315cd5fb6c157e..8bddb794c388893267ae600763eb2bd89d54decf 100644 --- a/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml +++ b/dataset_info/Airbot_MMK2_storage_mango_pomegranate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pomegranate level1: fruit level2: pomegranate @@ -51,48 +51,36 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pomegranate with left hand and put it in the storage box, and pick up - the mango with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the pomegranate with left hand and put it in the storage + box, and pick up the mango with right hand and put it in the storage box. sub_tasks: -- subtask: Place the pomegranate into the left compartment of the storage box with - the left gripper - subtask_index: 0 -- subtask: Grasp the pomegranate with the left gripper - subtask_index: 1 -- subtask: Grasp a mango with the right gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the pomegranate into the left compartment of the storage box with - the left gripper - subtask_index: 4 -- subtask: Grasp a pomegranate with the left gripper - subtask_index: 5 -- subtask: Grasp the mango with the right gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: Place the mango into the right compartment of the storage box with the - right gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Place the pomegranate into the left compartment of the storage box with the left + gripper +- Grasp the pomegranate with the left gripper +- Grasp a mango with the right gripper +- Static +- Place the pomegranate into the left compartment of the storage box with the left + gripper +- Grasp a pomegranate with the left gripper +- Grasp the mango with the right gripper +- End +- Place the mango into the right compartment of the storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -101,10 +89,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -112,7 +103,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 90 total_frames: 28506 fps: 30 @@ -140,9 +132,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_mango_pomegranate_qced_hardlink \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:89 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -412,7 +406,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -420,6 +414,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -446,6 +441,144 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_mango_pomegranate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pomegranate with left hand and put it in the storage box, and pick + up the mango with right hand and put it in the storage box. + sub_tasks: + - subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper + subtask_index: 0 + - subtask: Grasp the pomegranate with the left gripper + subtask_index: 1 + - subtask: Grasp a mango with the right gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the pomegranate into the left compartment of the storage box with + the left gripper + subtask_index: 4 + - subtask: Grasp a pomegranate with the left gripper + subtask_index: 5 + - subtask: Grasp the mango with the right gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: Place the mango into the right compartment of the storage box with the + right gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28506 + dataset_size: 895.99 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_mango_pomegranate_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (78 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml b/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml index 5eec4a0fd794cfde5b056eaf48e237d26d294315..494b3f5cbf46ef6e81f3ba3674d326c2ec438a99 100644 --- a/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml +++ b/dataset_info/Airbot_MMK2_storage_milk_tissue.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -57,41 +57,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the tissue with left hand and put it in the basket, then pick up the milk - with right hand and put it in the basket. +task_result: 'null' +task_instruction: pick up the tissue with left hand and put it in the basket, then + pick up the milk with right hand and put it in the basket. sub_tasks: -- subtask: Place the milk on the white basket with the right gripper - subtask_index: 0 -- subtask: Place the tissue on the white basket with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Grasp the milk with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the tissue with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the milk on the white basket with the right gripper +- Place the tissue on the white basket with the left gripper +- Abnormal +- Static +- Grasp the milk with the right gripper +- End +- Grasp the tissue with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -100,10 +91,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -111,7 +105,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 10048 fps: 30 @@ -139,9 +134,11 @@ data_structure: "Airbot_MMK2_storage_milk_tissue_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -411,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -419,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -445,6 +443,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_milk_tissue + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the tissue with left hand and put it in the basket, then pick up the milk + with right hand and put it in the basket. + sub_tasks: + - subtask: Place the milk on the white basket with the right gripper + subtask_index: 0 + - subtask: Place the tissue on the white basket with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Grasp the milk with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the tissue with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10048 + dataset_size: 350.34 MB + data_structure: "Airbot_MMK2_storage_milk_tissue_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml b/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml index a51eef2e144fad590aea406e776aa10aa72f0585..33ba5464ad9b55cfd8a449ec4868f049e30bf8e5 100644 --- a/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml +++ b/dataset_info/Airbot_MMK2_storage_network_cable_paper_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: box level1: home_storage level2: box @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the box with left hand and put it in the lid, and pick up the cable with - right hand and put it in the lid. +task_result: 'null' +task_instruction: pick up the box with left hand and put it in the lid, and pick up + the cable with right hand and put it in the lid. sub_tasks: -- subtask: Grasp the mouse box with the left gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the mouse box into the carton with the left gripper - subtask_index: 2 -- subtask: Place the network cable into the carton with the right gripper - subtask_index: 3 -- subtask: Grasp the network cable with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the mouse box with the left gripper +- End +- Place the mouse box into the carton with the left gripper +- Place the network cable into the carton with the right gripper +- Grasp the network cable with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 60 total_frames: 17028 fps: 30 @@ -129,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_network_cable_paper_box_qced_hardlink/\n|-- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:59 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_network_cable_paper_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the box with left hand and put it in the lid, and pick up the cable with + right hand and put it in the lid. + sub_tasks: + - subtask: Grasp the mouse box with the left gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the mouse box into the carton with the left gripper + subtask_index: 2 + - subtask: Place the network cable into the carton with the right gripper + subtask_index: 3 + - subtask: Grasp the network cable with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 17028 + dataset_size: 729.48 MB + data_structure: "Airbot_MMK2_storage_network_cable_paper_box_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (48 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml b/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml index f08b15a5ca8543fb5bf07785072e9552ac190233..d4dd549c4f2affa52b0a84f36ecf6244ad63403d 100644 --- a/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml +++ b/dataset_info/Airbot_MMK2_storage_onion_sweet_potato.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: potato level1: vegetables level2: potato @@ -51,40 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the potato with left hand and put it in the storage box, and pick up the - onion with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the potato with left hand and put it in the storage box, + and pick up the onion with right hand and put it in the storage box. sub_tasks: -- subtask: Grasp the eggplant with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the sweet potato into the left compartment of the storage box with - the left gripper - subtask_index: 2 -- subtask: Place the eggplant into the right compartment of the storage box with the - right gripper - subtask_index: 3 -- subtask: Grasp the sweet potato with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the eggplant with the right gripper +- End +- Place the sweet potato into the left compartment of the storage box with the left + gripper +- Place the eggplant into the right compartment of the storage box with the right + gripper +- Grasp the sweet potato with the left gripper +- 'null' atomic_actions: - pinch - pick - place - grasp -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +86,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +100,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6502 fps: 30 @@ -132,9 +129,11 @@ data_structure: "Airbot_MMK2_storage_onion_sweet_potato_qced_hardlink/\n|-- anno \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +403,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +411,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +438,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_onion_sweet_potato + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: Kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the potato with left hand and put it in the storage box, and pick up the + onion with right hand and put it in the storage box. + sub_tasks: + - subtask: Grasp the eggplant with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the sweet potato into the left compartment of the storage box with + the left gripper + subtask_index: 2 + - subtask: Place the eggplant into the right compartment of the storage box with + the right gripper + subtask_index: 3 + - subtask: Grasp the sweet potato with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - pinch + - pick + - place + - grasp + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6502 + dataset_size: 173.29 MB + data_structure: "Airbot_MMK2_storage_onion_sweet_potato_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml b/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml index 3b99e9ad84830ffd2fc9ee9ffcf57f776cdcf934..2a6f8fdeb0ec4b90baa92cd6382684ac3b806f84 100644 --- a/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml +++ b/dataset_info/Airbot_MMK2_storage_paper_box_sponge.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: small_black_boxes level1: home_storage level2: small_black_boxes @@ -51,40 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the box and the sponge into the plate respectively with left and right hands. +task_result: 'null' +task_instruction: put the box and the sponge into the plate respectively with left + and right hands. sub_tasks: -- subtask: Grasp the sponge with the right gripper - subtask_index: 0 -- subtask: Place the sponge on the white plate with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the box on the white plate with the left gripper - subtask_index: 5 -- subtask: Grasp the box with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the sponge with the right gripper +- Place the sponge on the white plate with the right gripper +- Abnormal +- Static +- End +- Place the box on the white plate with the left gripper +- Grasp the box with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 9624 fps: 30 @@ -132,9 +128,11 @@ data_structure: "Airbot_MMK2_storage_paper_box_sponge_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +437,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_paper_box_sponge + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the box and the sponge into the plate respectively with left and right hands. + sub_tasks: + - subtask: Grasp the sponge with the right gripper + subtask_index: 0 + - subtask: Place the sponge on the white plate with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the box on the white plate with the left gripper + subtask_index: 5 + - subtask: Grasp the box with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9624 + dataset_size: 304.37 MB + data_structure: "Airbot_MMK2_storage_paper_box_sponge_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml index f4b1825b740750672d05fe6478d64724341dfbbe..7f1a482f6cf29dee514fc18242406027a1525590 100644 --- a/dataset_info/Airbot_MMK2_storage_peach_pear.yaml +++ b/dataset_info/Airbot_MMK2_storage_peach_pear.yaml @@ -1,15 +1,35 @@ -path: Airbot_MMK2_storage_peach_pear +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: Airbot_MMK2_storage_peach_pear -robot_type: '' -end_effector_type: -- five_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp a peach with the left gripper -objects: +dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: peach level1: fruits level2: peach @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-2804 -dataset_size: 114.2MB -statistics: - total_episodes: 12 - total_frames: 2804 - total_tasks: 1 - total_videos: 48 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp a peach with the left gripper sub_tasks: - Grasp a peach with the left gripper - Grasp a pear with the right gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the pear into the right compartment of the storage box with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: AIRBOT_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 12 + total_frames: 2804 + total_tasks: 1 + total_videos: 48 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 2804 +dataset_size: 114.2MB +data_structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,46 +165,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Airbot_MMK2_storage_peach_pear + dataset_name: Airbot_MMK2_storage_peach_pear + robot_type: '' + end_effector_type: + - five_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp a peach with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-2804 + dataset_size: 114.2MB + statistics: *id002 + dataset_uuid: c48b833c-02bd-4fd5-a2c2-5b03bf2c2936 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp a peach with the left gripper + - Grasp a pear with the right gripper + - Abnormal + - Place the peach into the left compartment of the storage box with the left gripper + - Place the pear into the right compartment of the storage box with the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml index 7aaaed42af89ee0b67303eec91d3d97c266c8111..4daea9a3e783ca12d71f88d0de3f83c2ef9bffd2 100644 --- a/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml +++ b/dataset_info/Airbot_MMK2_storage_penguin_doll_tiger_doll.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: doll level1: toys level2: doll @@ -39,38 +39,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the doll on the plate. +task_result: 'null' +task_instruction: put the doll on the plate. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the penguin doll with the left gripper - subtask_index: 1 -- subtask: Grasp the tiger doll with the right gripper - subtask_index: 2 -- subtask: Place the penguin doll into the white basket with the left gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Place the tiger doll into the white basket with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- End +- Grasp the penguin doll with the left gripper +- Grasp the tiger doll with the right gripper +- Place the penguin doll into the white basket with the left gripper +- Abnormal +- Place the tiger doll into the white basket with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +71,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 13342 fps: 30 @@ -118,9 +114,11 @@ data_structure: "Airbot_MMK2_storage_penguin_doll_tiger_doll_qced_hardlink/\n|-- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -390,7 +388,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -398,6 +396,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -424,6 +423,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_penguin_doll_tiger_doll + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the doll on the plate. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the penguin doll with the left gripper + subtask_index: 1 + - subtask: Grasp the tiger doll with the right gripper + subtask_index: 2 + - subtask: Place the penguin doll into the white basket with the left gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Place the tiger doll into the white basket with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13342 + dataset_size: 424.08 MB + data_structure: "Airbot_MMK2_storage_penguin_doll_tiger_doll_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_pineapple.yaml b/dataset_info/Airbot_MMK2_storage_pineapple.yaml index b671fc8c11b5a939f698fbf6afef3379f32650d7..394d707cf88b858a72409285ba77ebe647280aec 100644 --- a/dataset_info/Airbot_MMK2_storage_pineapple.yaml +++ b/dataset_info/Airbot_MMK2_storage_pineapple.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pineapple level1: fruit level2: pineapple @@ -45,32 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pineapple with right hand and put it into the storage box. +task_result: 'null' +task_instruction: pick up the pineapple with right hand and put it into the storage + box. sub_tasks: -- subtask: Place the pineapple into the storage box with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the pineapple with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- Place the pineapple into the storage box with the right gripper +- End +- Grasp the pineapple with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +75,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +89,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 5219 fps: 30 @@ -118,9 +118,11 @@ data_structure: "Airbot_MMK2_storage_pineapple_qced_hardlink/\n|-- annotations\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -390,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -398,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -424,6 +427,128 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_pineapple + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pineapple with right hand and put it into the storage box. + sub_tasks: + - subtask: Place the pineapple into the storage box with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the pineapple with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5219 + dataset_size: 140.76 MB + data_structure: "Airbot_MMK2_storage_pineapple_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_potato_left.yaml b/dataset_info/Airbot_MMK2_storage_potato_left.yaml index 49fc895bbdfbd6dbb9f204d0d46332eca11833d9..978eba9c063f3483d6bc067964525c6f68cd2f5e 100644 --- a/dataset_info/Airbot_MMK2_storage_potato_left.yaml +++ b/dataset_info/Airbot_MMK2_storage_potato_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: potato level1: vegetables level2: potato @@ -45,42 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the potato with left hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the potato with left hand and put it in the storage box. sub_tasks: -- subtask: Grasp the potato with the right gripper - subtask_index: 0 -- subtask: Grasp the potato with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Place the potato into the left compartment of the storage box with the - left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Static - subtask_index: 5 -- subtask: Place the potato into the right compartment of the storage box with the - right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the potato with the right gripper +- Grasp the potato with the left gripper +- Abnormal +- Place the potato into the left compartment of the storage box with the left gripper +- End +- Static +- Place the potato into the right compartment of the storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 69 total_frames: 8728 fps: 30 @@ -128,9 +121,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/\n|-- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:68 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +430,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_potato_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the potato with left hand and put it in the storage box. + sub_tasks: + - subtask: Grasp the potato with the right gripper + subtask_index: 0 + - subtask: Grasp the potato with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Place the potato into the left compartment of the storage box with the + left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Static + subtask_index: 5 + - subtask: Place the potato into the right compartment of the storage box with the + right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8728 + dataset_size: 322.26 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_left_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (57 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml b/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml index e4ec8ac0990b6364adbfc51e582df5902cc0a012..da17efd55f3805c22195712c1ab60ec5efa49475 100644 --- a/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml +++ b/dataset_info/Airbot_MMK2_storage_potato_pumpkin.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: potato level1: vegetables level2: potato @@ -51,39 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the potato with left hand and put it in the storage box, and pick up the - pumpkin with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the potato with left hand and put it in the storage box, + and pick up the pumpkin with right hand and put it in the storage box. sub_tasks: -- subtask: Grasp the pumpkin with the right gripper - subtask_index: 0 -- subtask: Grasp the potato with the left gripper - subtask_index: 1 -- subtask: Place the potato into the left compartment of the storage box with the - left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the pumpkin into the right compartment of the storage box with the - right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the pumpkin with the right gripper +- Grasp the potato with the left gripper +- Place the potato into the left compartment of the storage box with the left gripper +- End +- Place the pumpkin into the right compartment of the storage box with the right gripper +- 'null' atomic_actions: - pick - place - grasp -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 41 total_frames: 9965 fps: 30 @@ -131,9 +126,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_pumpkin_qced_hardlink/\n \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:40 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +435,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_potato_pumpkin + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the potato with left hand and put it in the storage box, and pick up the + pumpkin with right hand and put it in the storage box. + sub_tasks: + - subtask: Grasp the pumpkin with the right gripper + subtask_index: 0 + - subtask: Grasp the potato with the left gripper + subtask_index: 1 + - subtask: Place the potato into the left compartment of the storage box with the + left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the pumpkin into the right compartment of the storage box with + the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - pick + - place + - grasp + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9965 + dataset_size: 288.93 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_potato_pumpkin_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (29 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml b/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml index 1695332f7658f3364f065bbf278484675c1dc50a..24e89c7867d092ce1d29876746cbcfebb2e905c8 100644 --- a/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml +++ b/dataset_info/Airbot_MMK2_storage_pumpkin_left.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pumpkin level1: vegetables level2: pumpkin @@ -45,34 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pumpkin with left hand and put it in the bowl. +task_result: 'null' +task_instruction: pick up the pumpkin with left hand and put it in the bowl. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Static - subtask_index: 1 -- subtask: Grasp the pumpkin with the left gripper - subtask_index: 2 -- subtask: Place the pumpkin on the pink bowl with the left gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Static +- Grasp the pumpkin with the left gripper +- Place the pumpkin on the pink bowl with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -81,10 +75,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -92,7 +89,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6026 fps: 30 @@ -120,9 +118,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_left_qced_hardlink/\n|- \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -392,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -400,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -426,6 +427,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_pumpkin_left + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pumpkin with left hand and put it in the bowl. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Static + subtask_index: 1 + - subtask: Grasp the pumpkin with the left gripper + subtask_index: 2 + - subtask: Place the pumpkin on the pink bowl with the left gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6026 + dataset_size: 227.20 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_left_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml b/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml index 27bc6ebaffb531e3428ab77fe7b60c5ec2911937..87dedff71dd4c8f81022c13686ca61f1a2da5a83 100644 --- a/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml +++ b/dataset_info/Airbot_MMK2_storage_pumpkin_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pumpkin level1: vegetables level2: pumpkin @@ -45,37 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the pumpkin with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the pumpkin with right hand and put it in the storage box. sub_tasks: -- subtask: Place the pumpkin into the right compartment of the storage box - subtask_index: 0 -- subtask: Place the pumpkin into the right compartment of the storage box with the - right gripper - subtask_index: 1 -- subtask: Grasp the pumpkin with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the pumpkin into the right compartment of the storage box +- Place the pumpkin into the right compartment of the storage box with the right gripper +- Grasp the pumpkin with the right gripper +- End +- Static +- 'null' atomic_actions: - grasp - place - pick -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 12358 fps: 30 @@ -123,9 +119,11 @@ data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_right_qced_hardlink/\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +428,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_pumpkin_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the pumpkin with right hand and put it in the storage box. + sub_tasks: + - subtask: Place the pumpkin into the right compartment of the storage box + subtask_index: 0 + - subtask: Place the pumpkin into the right compartment of the storage box with + the right gripper + subtask_index: 1 + - subtask: Grasp the pumpkin with the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - place + - pick + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 12358 + dataset_size: 463.31 MB + data_structure: "Airbot_MMK2_Airbot_MMK2_storage_pumpkin_right_qced_hardlink/\n\ + |-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_shark_doll.yaml b/dataset_info/Airbot_MMK2_storage_shark_doll.yaml index c6aac08887c3c3e0c8f0bc15f6c6165b3b1b67e8..8f2af3825ccc5dd3606c52dc790b1b7205c9ee7e 100644 --- a/dataset_info/Airbot_MMK2_storage_shark_doll.yaml +++ b/dataset_info/Airbot_MMK2_storage_shark_doll.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -51,34 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the shark doll and put it in the lid. +task_result: 'null' +task_instruction: pick up the shark doll and put it in the lid. sub_tasks: -- subtask: Place the whale on the white lid with the right gripper - subtask_index: 0 -- subtask: Grasp the whale with the left gripper - subtask_index: 1 -- subtask: Deliver the whale from left gripper to right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Place the whale on the white lid with the right gripper +- Grasp the whale with the left gripper +- Deliver the whale from left gripper to right gripper +- End +- 'null' atomic_actions: - grasp - place - pick -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +81,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 93 total_frames: 13034 fps: 30 @@ -126,9 +124,11 @@ data_structure: "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:92 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +398,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +406,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +433,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_shark_doll + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the shark doll and put it in the lid. + sub_tasks: + - subtask: Place the whale on the white lid with the right gripper + subtask_index: 0 + - subtask: Grasp the whale with the left gripper + subtask_index: 1 + - subtask: Deliver the whale from left gripper to right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - place + - pick + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13034 + dataset_size: 461.32 MB + data_structure: "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml index 3a2dc969f60fcd5bc30ce145ea6f822e256fc433..15ee718a5cb4808f78bc7bbd102e428c3caeeec0 100644 --- a/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml +++ b/dataset_info/Airbot_MMK2_storage_sponge_wet_wipes.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -57,41 +57,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the sponge and wet wipes with both hands simultaneously and put them into - the basket at the same time. +task_result: 'null' +task_instruction: pick up the sponge and wet wipes with both hands simultaneously + and put them into the basket at the same time. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: 'Place the sponge into the white basket with the left gripper ' - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: 'Grasp the sponge with the left gripper ' - subtask_index: 3 -- subtask: Place the wet wipes into the white basket with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the wet wipes with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Abnormal +- Place the sponge into the white basket with the left gripper +- Static +- Grasp the sponge with the left gripper +- Place the wet wipes into the white basket with the right gripper +- End +- Grasp the wet wipes with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -100,10 +91,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -111,7 +105,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 40 total_frames: 4690 fps: 30 @@ -139,9 +134,11 @@ data_structure: "Airbot_MMK2_storage_sponge_wet_wipes_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:39 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -411,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -419,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -445,6 +443,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_sponge_wet_wipes + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the sponge and wet wipes with both hands simultaneously and put them into + the basket at the same time. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: 'Place the sponge into the white basket with the left gripper ' + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: 'Grasp the sponge with the left gripper ' + subtask_index: 3 + - subtask: Place the wet wipes into the white basket with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the wet wipes with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 4690 + dataset_size: 191.12 MB + data_structure: "Airbot_MMK2_storage_sponge_wet_wipes_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (28 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_spoon.yaml b/dataset_info/Airbot_MMK2_storage_spoon.yaml index bf25028f1d8aa984a15610a87580c00b07487c9c..c78c5fca61c51471b4ad8e99dc37d02cdbd50bfd 100644 --- a/dataset_info/Airbot_MMK2_storage_spoon.yaml +++ b/dataset_info/Airbot_MMK2_storage_spoon.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: spoon level1: kitchen_supplies level2: spoon @@ -45,36 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the spoons on the table by hand and place them into the basin. +task_result: 'null' +task_instruction: pick up the spoons on the table by hand and place them into the + basin. sub_tasks: -- subtask: Grasp the spoon with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the spoon with the left gripper - subtask_index: 2 -- subtask: Place the spoon into the basin with the right gripper - subtask_index: 3 -- subtask: Place the spoon into the basin with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the spoon with the right gripper +- End +- Grasp the spoon with the left gripper +- Place the spoon into the basin with the right gripper +- Place the spoon into the basin with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 54 total_frames: 15550 fps: 30 @@ -121,9 +119,11 @@ data_structure: "Airbot_MMK2_storage_spoon_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:53 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +428,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_spoon + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the spoons on the table by hand and place them into the basin. + sub_tasks: + - subtask: Grasp the spoon with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the spoon with the left gripper + subtask_index: 2 + - subtask: Place the spoon into the basin with the right gripper + subtask_index: 3 + - subtask: Place the spoon into the basin with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 15550 + dataset_size: 509.63 MB + data_structure: "Airbot_MMK2_storage_spoon_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (42 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml index 111665a4ba580a649ae4652ae9e165d9c092ed1a..7a41a576ca84df2ca105498d009a1c093f43c054 100644 --- a/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml +++ b/dataset_info/Airbot_MMK2_storage_stationery_xylophone.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: xylophone level1: musical_instrument level2: xylophone @@ -51,41 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the xylophone with left hand and put it in the lid, and pick up the stationery - with right hand and put it in the lid. +task_result: 'null' +task_instruction: pick up the xylophone with left hand and put it in the lid, and + pick up the stationery with right hand and put it in the lid. sub_tasks: -- subtask: Grasp the xylophone with the left gripper - subtask_index: 0 -- subtask: Place the xylophone on the white lid with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the tongs on the white lid with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the tongs with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the xylophone with the left gripper +- Place the xylophone on the white lid with the left gripper +- Abnormal +- Static +- Place the tongs on the white lid with the right gripper +- End +- Grasp the tongs with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -94,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -105,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 24223 fps: 30 @@ -133,9 +128,11 @@ data_structure: "Airbot_MMK2_storage_stationery_xylophone_qced_hardlink/\n|-- an \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -405,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -413,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -439,6 +437,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_stationery_xylophone + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the xylophone with left hand and put it in the lid, and pick up the stationery + with right hand and put it in the lid. + sub_tasks: + - subtask: Grasp the xylophone with the left gripper + subtask_index: 0 + - subtask: Place the xylophone on the white lid with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the tongs on the white lid with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the tongs with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 24223 + dataset_size: 791.71 MB + data_structure: "Airbot_MMK2_storage_stationery_xylophone_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml index f776376be28d239cb82924624a57922f4995a550..7ba83985c9c9444704d5783525fd709dfb7fcd0d 100644 --- a/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml +++ b/dataset_info/Airbot_MMK2_storage_tape_measure_umbrella.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: basin level1: storage_utensils level2: basin @@ -51,38 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- put the tape measure and the umbrella in the basin. +task_result: 'null' +task_instruction: put the tape measure and the umbrella in the basin. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the tape measure with the right gripper - subtask_index: 1 -- subtask: Grasp the umbrella with the left gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the umbrella in the white basket with the left gripper - subtask_index: 4 -- subtask: Place the tape measure in the white basket with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- End +- Grasp the tape measure with the right gripper +- Grasp the umbrella with the left gripper +- Static +- Place the umbrella in the white basket with the left gripper +- Place the tape measure in the white basket with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 40 total_frames: 7112 fps: 30 @@ -130,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/\n|-- a \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:39 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +435,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_tape_measure_umbrella + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - put the tape measure and the umbrella in the basin. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the tape measure with the right gripper + subtask_index: 1 + - subtask: Grasp the umbrella with the left gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the umbrella in the white basket with the left gripper + subtask_index: 4 + - subtask: Place the tape measure in the white basket with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7112 + dataset_size: 236.10 MB + data_structure: "Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (28 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml b/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml index f07b12f069aeeb93b0d935e7b8fc5d760bb671fd..c89b10538f1b619a29fda5efbdef1bd78a36a2f6 100644 --- a/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml +++ b/dataset_info/Airbot_MMK2_storage_tissues_tub.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: tissue_paper level1: paper_towels level2: tissue_paper @@ -45,40 +45,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the tissues on the table by hand and place them on the white tray. +task_result: 'null' +task_instruction: pick up the tissues on the table by hand and place them on the white + tray. sub_tasks: -- subtask: Grasp the tissue with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Place the tissue into the brown basin with the right gripper - subtask_index: 3 -- subtask: Place the tissue into the brown basin with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the tissue with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the tissue with the right gripper +- Abnormal +- Static +- Place the tissue into the brown basin with the right gripper +- Place the tissue into the brown basin with the left gripper +- End +- Grasp the tissue with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -87,10 +79,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -98,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 6851 fps: 30 @@ -126,9 +122,11 @@ data_structure: "Airbot_MMK2_storage_tissues_tub_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -398,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -406,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -432,6 +431,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_tissues_tub + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the tissues on the table by hand and place them on the white tray. + sub_tasks: + - subtask: Grasp the tissue with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Place the tissue into the brown basin with the right gripper + subtask_index: 3 + - subtask: Place the tissue into the brown basin with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the tissue with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6851 + dataset_size: 207.40 MB + data_structure: "Airbot_MMK2_storage_tissues_tub_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml index 6bf1c415b9ad7236479c748346268f04e38dfd05..9e2ed844be7879442378543c467bf999cb3ff2d4 100644 --- a/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml +++ b/dataset_info/Airbot_MMK2_storage_tomato_potato.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: potato level1: vegetables level2: potato @@ -51,39 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the potato with left hand and put it in the storage box, and pick up the - tomato with right hand and put it in the storage box. +task_result: 'null' +task_instruction: pick up the potato with left hand and put it in the storage box, + and pick up the tomato with right hand and put it in the storage box. sub_tasks: -- subtask: Grasp the tomato with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Place the potato into the left compartment of the storage box with the - left gripper - subtask_index: 2 -- subtask: Grasp the potato with the left gripper - subtask_index: 3 -- subtask: Place the tomato into the right compartment of the storage box with the - right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the tomato with the right gripper +- End +- Place the potato into the left compartment of the storage box with the left gripper +- Grasp the potato with the left gripper +- Place the tomato into the right compartment of the storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 6005 fps: 30 @@ -131,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_tomato_potato_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +435,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_tomato_potato + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the potato with left hand and put it in the storage box, and pick up the + tomato with right hand and put it in the storage box. + sub_tasks: + - subtask: Grasp the tomato with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Place the potato into the left compartment of the storage box with the + left gripper + subtask_index: 2 + - subtask: Grasp the potato with the left gripper + subtask_index: 3 + - subtask: Place the tomato into the right compartment of the storage box with the + right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6005 + dataset_size: 161.13 MB + data_structure: "Airbot_MMK2_storage_tomato_potato_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_tools.yaml b/dataset_info/Airbot_MMK2_storage_tools.yaml index f8abecd427fabfa6e5d189683b03d17760f28d24..e42f22045c4c06149b06180d3ecb9bc687cbb1c4 100644 --- a/dataset_info/Airbot_MMK2_storage_tools.yaml +++ b/dataset_info/Airbot_MMK2_storage_tools.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: utility_knife level1: kitchen_supplies level2: utility_knife @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the plier and the utility knife on the table by hand and place them into - the white tray. +task_result: 'null' +task_instruction: pick up the plier and the utility knife on the table by hand and + place them into the white tray. sub_tasks: -- subtask: Place the plier into white basket with the left gripper - subtask_index: 0 -- subtask: Grasp the plier with the left gripper - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Place the utility knife into white basket with the right gripper - subtask_index: 3 -- subtask: Grasp the utility knife with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the plier into white basket with the left gripper +- Grasp the plier with the left gripper +- Static +- Place the utility knife into white basket with the right gripper +- Grasp the utility knife with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 7910 fps: 30 @@ -130,9 +126,11 @@ data_structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +435,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_tools + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the plier and the utility knife on the table by hand and place them into + the white tray. + sub_tasks: + - subtask: Place the plier into white basket with the left gripper + subtask_index: 0 + - subtask: Grasp the plier with the left gripper + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Place the utility knife into white basket with the right gripper + subtask_index: 3 + - subtask: Grasp the utility knife with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7910 + dataset_size: 221.53 MB + data_structure: "Airbot_MMK2_storage_tools_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml index 4b3e73c7954386897c3ceddd8322545ccfb2af33..ca320d36822596f52ef95f6eaeb2cc84541cd9e4 100644 --- a/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml +++ b/dataset_info/Airbot_MMK2_storage_tumbler_umbrella.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -57,39 +57,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the umbrella with left hand and put it in the basket, then use right hand - to pick up the thermos and put it in the basket. +task_result: 'null' +task_instruction: pick up the umbrella with left hand and put it in the basket, then + use right hand to pick up the thermos and put it in the basket. sub_tasks: -- subtask: Place the cup into the white basket with the right gripper - subtask_index: 0 -- subtask: Grasp the umbrella with the left gripper - subtask_index: 1 -- subtask: Place the umbrella into the white basket with the left gripper - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the cup with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the cup into the white basket with the right gripper +- Grasp the umbrella with the left gripper +- Place the umbrella into the white basket with the left gripper +- Static +- End +- Grasp the cup with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -98,10 +90,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -109,7 +104,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 14373 fps: 30 @@ -137,9 +133,11 @@ data_structure: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n|-- annota \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -409,7 +407,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -417,6 +415,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -443,6 +442,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storage_tumbler_umbrella + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the umbrella with left hand and put it in the basket, then use right hand + to pick up the thermos and put it in the basket. + sub_tasks: + - subtask: Place the cup into the white basket with the right gripper + subtask_index: 0 + - subtask: Grasp the umbrella with the left gripper + subtask_index: 1 + - subtask: Place the umbrella into the white basket with the left gripper + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the cup with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 14373 + dataset_size: 542.57 MB + data_structure: "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml index 1bdf7b38ed733c6d2e3c55efeeb6fa9ef73b881d..31b0f1034e006ec29dbf17c388022ad15b177f14 100644 --- a/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml +++ b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: food level2: cake @@ -57,41 +57,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- hold the cake in left hand and the ice cream in right hand at the same time. put - the cake into the bowl and place the ice cream on the plate. +task_result: 'null' +task_instruction: hold the cake in left hand and the ice cream in right hand at the + same time. put the cake into the bowl and place the ice cream on the plate. sub_tasks: -- subtask: Place the ice cream into the plate with the right gripper - subtask_index: 0 -- subtask: Grasp the ice cream with the right gripper - subtask_index: 1 -- subtask: Grasp the cake with the left gripper - subtask_index: 2 -- subtask: Place the cake into the bowl with the left gripper - subtask_index: 3 -- subtask: Static - subtask_index: 4 -- subtask: Grasp the cake from the table and with the left gripper - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the ice cream into the plate with the right gripper +- Grasp the ice cream with the right gripper +- Grasp the cake with the left gripper +- Place the cake into the bowl with the left gripper +- Static +- Grasp the cake from the table and with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -100,10 +91,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -111,7 +105,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 8733 fps: 30 @@ -139,9 +134,11 @@ data_structure: "Airbot_MMK2_storge_cake_ice_cream_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -411,7 +408,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -419,6 +416,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -445,6 +443,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_storge_cake_ice_cream + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - hold the cake in left hand and the ice cream in right hand at the same time. put + the cake into the bowl and place the ice cream on the plate. + sub_tasks: + - subtask: Place the ice cream into the plate with the right gripper + subtask_index: 0 + - subtask: Grasp the ice cream with the right gripper + subtask_index: 1 + - subtask: Grasp the cake with the left gripper + subtask_index: 2 + - subtask: Place the cake into the bowl with the left gripper + subtask_index: 3 + - subtask: Static + subtask_index: 4 + - subtask: Grasp the cake from the table and with the left gripper + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8733 + dataset_size: 351.41 MB + data_structure: "Airbot_MMK2_storge_cake_ice_cream_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml index e8da38c7a3f3ad7b2cfa17fd077ee89f1784a260..bf58c99224d11b6ca91644146c6e53afd34638e1 100644 --- a/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_apple_cake_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: bread level2: cake @@ -51,36 +51,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the cake out of the plate and put the apples in. +task_result: 'null' +task_instruction: take the cake out of the plate and put the apples in. sub_tasks: -- subtask: Grasp the cake placed into the plate with the left gripper - subtask_index: 0 -- subtask: Grasp the apple with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the cake on the table with the left gripper - subtask_index: 3 -- subtask: Place the apple into the plate with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the cake placed into the plate with the left gripper +- Grasp the apple with the right gripper +- End +- Place the cake on the table with the left gripper +- Place the apple into the plate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +82,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +96,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 6775 fps: 30 @@ -128,9 +125,11 @@ data_structure: "Airbot_MMK2_swap_apple_cake_plate_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +399,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +407,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +434,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_apple_cake_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the cake out of the plate and put the apples in. + sub_tasks: + - subtask: Grasp the cake placed into the plate with the left gripper + subtask_index: 0 + - subtask: Grasp the apple with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the cake on the table with the left gripper + subtask_index: 3 + - subtask: Place the apple into the plate with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6775 + dataset_size: 182.07 MB + data_structure: "Airbot_MMK2_swap_apple_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml b/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml index b18bf1b499e2860bd431d6621f57b22571ce0c20..f37d44ac235ba2ed13897140a4bff3dd5b686f91 100644 --- a/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_bbs_block_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: bb_pellets level1: toys level2: bb_pellets @@ -51,39 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the bb balls out of the plate with left hand and put them back in with right - hand. +task_result: 'null' +task_instruction: take the bb balls out of the plate with left hand and put them back + in with right hand. sub_tasks: -- subtask: Place the green rectangular block on the plate with the right gripper - subtask_index: 0 -- subtask: Place the bullet on the table with the left gripper - subtask_index: 1 -- subtask: Graasp the green rectangular block with the right gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Graasp the bullet on the plate and with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the green rectangular block on the plate with the right gripper +- Place the bullet on the table with the left gripper +- Graasp the green rectangular block with the right gripper +- Abnormal +- Graasp the bullet on the plate and with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -92,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -103,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 9449 fps: 30 @@ -131,9 +127,11 @@ data_structure: "Airbot_MMK2_swap_bbs_block_plate_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -403,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -411,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -437,6 +436,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_bbs_block_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the bb balls out of the plate with left hand and put them back in with right + hand. + sub_tasks: + - subtask: Place the green rectangular block on the plate with the right gripper + subtask_index: 0 + - subtask: Place the bullet on the table with the left gripper + subtask_index: 1 + - subtask: Graasp the green rectangular block with the right gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Graasp the bullet on the plate and with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 9449 + dataset_size: 295.93 MB + data_structure: "Airbot_MMK2_swap_bbs_block_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml index 7315224f20f389424cd4a599755cb7404a67207c..ce4eabd640cd87908fa967c140bb51ed3e19cb12 100644 --- a/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_bbs_cake_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: bb_pellets level1: toys level2: bb_pellets @@ -51,40 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the bbs out of the plate with left hand and put the cake in with right hand. +task_result: 'null' +task_instruction: take the bbs out of the plate with left hand and put the cake in + with right hand. sub_tasks: -- subtask: Grasp the cake on the table with the right gripper - subtask_index: 0 -- subtask: Place the bullet on the table with the left gripper - subtask_index: 1 -- subtask: Grasp the bullet into the plate with the left gripper - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Place the cake into the plate with the right gripper - subtask_index: 4 -- subtask: Static - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the cake on the table with the right gripper +- Place the bullet on the table with the left gripper +- Grasp the bullet into the plate with the left gripper +- Abnormal +- Place the cake into the plate with the right gripper +- Static +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 7877 fps: 30 @@ -132,9 +128,11 @@ data_structure: "Airbot_MMK2_swap_bbs_cake_plate_qced_hardlink/\n|-- annotations \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +437,136 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_bbs_cake_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the bbs out of the plate with left hand and put the cake in with right hand. + sub_tasks: + - subtask: Grasp the cake on the table with the right gripper + subtask_index: 0 + - subtask: Place the bullet on the table with the left gripper + subtask_index: 1 + - subtask: Grasp the bullet into the plate with the left gripper + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Place the cake into the plate with the right gripper + subtask_index: 4 + - subtask: Static + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 7877 + dataset_size: 384.19 MB + data_structure: "Airbot_MMK2_swap_bbs_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml index ba36a26cea75aaa3addf37f135083a18aaf43fde..e6c5aa0396b38f287588085e3ee06cda02c8b105 100644 --- a/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_bottle_wet_wipes_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: wipes level1: kitchen_supplies level2: wipes @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the bottle out of the plate with left hand and put the wet wipes in with right - hand. +task_result: 'null' +task_instruction: take the bottle out of the plate with left hand and put the wet + wipes in with right hand. sub_tasks: -- subtask: Place the wet wipes into the plate with the right gripper - subtask_index: 0 -- subtask: Place the Vitamin B water on the table with the left gripper - subtask_index: 1 -- subtask: Grasp the Vitamin B water in the plate with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Grasp the wet wipes with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the wet wipes into the plate with the right gripper +- Place the Vitamin B water on the table with the left gripper +- Grasp the Vitamin B water in the plate with the left gripper +- End +- Grasp the wet wipes with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 15726 fps: 30 @@ -129,9 +126,11 @@ data_structure: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n|-- ann \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_bottle_wet_wipes_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the bottle out of the plate with left hand and put the wet wipes in with + right hand. + sub_tasks: + - subtask: Place the wet wipes into the plate with the right gripper + subtask_index: 0 + - subtask: Place the Vitamin B water on the table with the left gripper + subtask_index: 1 + - subtask: Grasp the Vitamin B water in the plate with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Grasp the wet wipes with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 15726 + dataset_size: 490.33 MB + data_structure: "Airbot_MMK2_swap_bottle_wet_wipes_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml b/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml index a6233f5f17a7097569bcc65a974bcd86eec6faae..593595a73664228f9835a542ffb3c9574ba83dac 100644 --- a/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_bread_cake_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cake level1: bread level2: cake @@ -51,38 +51,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the cake out of the plate with left hand and put the bread in with right hand. +task_result: 'null' +task_instruction: take the cake out of the plate with left hand and put the bread + in with right hand. sub_tasks: -- subtask: Grasp the bread with the right gripper - subtask_index: 0 -- subtask: Place the cake on the table with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Place the bread into the plate with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Grasp the cake on the plate with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the bread with the right gripper +- Place the cake on the table with the left gripper +- Abnormal +- Place the bread into the plate with the right gripper +- End +- Grasp the cake on the plate with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +84,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +98,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 41 total_frames: 11322 fps: 30 @@ -130,9 +127,11 @@ data_structure: "Airbot_MMK2_swap_bread_cake_plate_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:40 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +401,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +409,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +436,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_bread_cake_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the cake out of the plate with left hand and put the bread in with right + hand. + sub_tasks: + - subtask: Grasp the bread with the right gripper + subtask_index: 0 + - subtask: Place the cake on the table with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Place the bread into the plate with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Grasp the cake on the plate with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11322 + dataset_size: 475.32 MB + data_structure: "Airbot_MMK2_swap_bread_cake_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (29 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml index 68e623f812dd70fdc54d3241d44b2e3b92affcf0..a06c559f3091cf66221552b40d67b436e602a1b6 100644 --- a/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: plate level1: kitchen_supplies level2: plate @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the cake out with left hand and put the pumpkin in with right hand. +task_result: 'null' +task_instruction: take the cake out with left hand and put the pumpkin in with right + hand. sub_tasks: -- subtask: Grasp the cake with the left gripper - subtask_index: 0 -- subtask: Grasp the pumpkinx with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the cake on the table with the left gripper - subtask_index: 3 -- subtask: Place the pumpkin into the plate with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the cake with the left gripper +- Grasp the pumpkinx with the right gripper +- End +- Place the cake on the table with the left gripper +- Place the pumpkin into the plate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 13761 fps: 30 @@ -128,9 +126,11 @@ data_structure: "Airbot_MMK2_swap_cake_pumpkin_plate_qced_hardlink/\n|-- annotat \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +435,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_cake_pumpkin_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the cake out with left hand and put the pumpkin in with right hand. + sub_tasks: + - subtask: Grasp the cake with the left gripper + subtask_index: 0 + - subtask: Grasp the pumpkinx with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the cake on the table with the left gripper + subtask_index: 3 + - subtask: Place the pumpkin into the plate with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13761 + dataset_size: 399.28 MB + data_structure: "Airbot_MMK2_swap_cake_pumpkin_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml index c51cf77a93f684a9c76749ac483d793b5a8da9fd..6abd3e7219db6b0a4a92330c7b850262168ad614 100644 --- a/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_cake_sponge_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cleaning_sponge level1: daily_necessities level2: cleaning_sponge @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the sponge out of the plate with left hand and put the cake in with right hand. +task_result: 'null' +task_instruction: take the sponge out of the plate with left hand and put the cake + in with right hand. sub_tasks: -- subtask: Place the sponge on the table with the left gripper - subtask_index: 0 -- subtask: Grasp the cake from the table and with the right gripper - subtask_index: 1 -- subtask: Grasp the sponge from the plate and with the left gripper - subtask_index: 2 -- subtask: Place the cake into the plate with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the sponge on the table with the left gripper +- Grasp the cake from the table and with the right gripper +- Grasp the sponge from the plate and with the left gripper +- Place the cake into the plate with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 43 total_frames: 6675 fps: 30 @@ -128,9 +126,11 @@ data_structure: "Airbot_MMK2_swap_cake_sponge_plate_qced_hardlink/\n|-- annotati \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:42 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_cake_sponge_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the sponge out of the plate with left hand and put the cake in with right + hand. + sub_tasks: + - subtask: Place the sponge on the table with the left gripper + subtask_index: 0 + - subtask: Grasp the cake from the table and with the right gripper + subtask_index: 1 + - subtask: Grasp the sponge from the plate and with the left gripper + subtask_index: 2 + - subtask: Place the cake into the plate with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6675 + dataset_size: 272.17 MB + data_structure: "Airbot_MMK2_swap_cake_sponge_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (31 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml index 715555e1c638589f69c39831782276e95b1fe09d..6c36c5a01aaf61ffe86e7d2d04cd7612b8303afe 100644 --- a/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml +++ b/dataset_info/Airbot_MMK2_swap_sponge_paper_box_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: home_storage level2: paper_boxes @@ -51,40 +51,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the sponge out of the plate with left hand and put the box in with right hand. +task_result: 'null' +task_instruction: take the sponge out of the plate with left hand and put the box + in with right hand. sub_tasks: -- subtask: Place the sponge on the table with the left gripper - subtask_index: 0 -- subtask: Grasp the mouse box with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Static - subtask_index: 3 -- subtask: Place the mouse box into the plate with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the sponge in the plate with the left gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the sponge on the table with the left gripper +- Grasp the mouse box with the right gripper +- Abnormal +- Static +- Place the mouse box into the plate with the right gripper +- End +- Grasp the sponge in the plate with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -93,10 +85,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -104,7 +99,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 8731 fps: 30 @@ -132,9 +128,11 @@ data_structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- ann \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -404,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -412,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -438,6 +437,137 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_swap_sponge_paper_box_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the sponge out of the plate with left hand and put the box in with right + hand. + sub_tasks: + - subtask: Place the sponge on the table with the left gripper + subtask_index: 0 + - subtask: Grasp the mouse box with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Static + subtask_index: 3 + - subtask: Place the mouse box into the plate with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the sponge in the plate with the left gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8731 + dataset_size: 272.24 MB + data_structure: "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_sweep_peaper.yaml b/dataset_info/Airbot_MMK2_sweep_peaper.yaml index 87e157611951a37e25d2406646514e75d0bb3885..4f610d76ed7c1b052dbf8b0d27ed46a6809968ae 100644 --- a/dataset_info/Airbot_MMK2_sweep_peaper.yaml +++ b/dataset_info/Airbot_MMK2_sweep_peaper.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_all level1: trash_bag level2: paper_all @@ -51,42 +51,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- hold the dustpan with left hand and the broom with right hand, and sweep the paper - ball into the dustpan. +task_result: 'null' +task_instruction: hold the dustpan with left hand and the broom with right hand, and + sweep the paper ball into the dustpan. sub_tasks: -- subtask: Place the broom on the table with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the broom from the table with the right gripper - subtask_index: 2 -- subtask: Grasp the dustpan from the table with the left gripper - subtask_index: 3 -- subtask: Place the dustpan on the table with the left gripper - subtask_index: 4 -- subtask: Abnormal - subtask_index: 5 -- subtask: Sweep the waste paper into the dustpan - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Place the broom on the table with the right gripper +- End +- Grasp the broom from the table with the right gripper +- Grasp the dustpan from the table with the left gripper +- Place the dustpan on the table with the left gripper +- Abnormal +- Sweep the waste paper into the dustpan +- 'null' atomic_actions: - grasp - pick - place - push -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -95,10 +86,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +100,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 43106 fps: 30 @@ -133,9 +128,11 @@ data_structure: "Airbot_MMK2_sweep_peaper_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -405,7 +402,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -413,6 +410,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -439,6 +437,138 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_sweep_peaper + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - hold the dustpan with left hand and the broom with right hand, and sweep the paper + ball into the dustpan. + sub_tasks: + - subtask: Place the broom on the table with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the broom from the table with the right gripper + subtask_index: 2 + - subtask: Grasp the dustpan from the table with the left gripper + subtask_index: 3 + - subtask: Place the dustpan on the table with the left gripper + subtask_index: 4 + - subtask: Abnormal + subtask_index: 5 + - subtask: Sweep the waste paper into the dustpan + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + - push + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 43106 + dataset_size: 1.75 GB + data_structure: "Airbot_MMK2_sweep_peaper_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_BBs_block.yaml b/dataset_info/Airbot_MMK2_take_BBs_block.yaml index 845378728de2447bc8a9c97d4f8b8c58447b7071..48bbadac24f3fffbba0c0fa6e2a4ce792db4515c 100644 --- a/dataset_info/Airbot_MMK2_take_BBs_block.yaml +++ b/dataset_info/Airbot_MMK2_take_BBs_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: rectangular_building_blocks level1: building_blocks level2: rectangular_building_blocks @@ -45,39 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the rectangular building blocks and bullets out of the plate by hand and place - them on the table. +task_result: 'null' +task_instruction: take the rectangular building blocks and bullets out of the plate + by hand and place them on the table. sub_tasks: -- subtask: Grasp the green rectangular block on the plate with the left gripper - subtask_index: 0 -- subtask: Grasp the bullet on the plate with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Abnormal - subtask_index: 3 -- subtask: Place the bullet on the table with the right gripper - subtask_index: 4 -- subtask: Place the green rectangular block on the table with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the green rectangular block on the plate with the left gripper +- Grasp the bullet on the plate with the right gripper +- End +- Abnormal +- Place the bullet on the table with the right gripper +- Place the green rectangular block on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -86,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -97,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 43 total_frames: 13927 fps: 30 @@ -124,9 +120,11 @@ data_structure: "Airbot_MMK2_take_BBs_block_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:42 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +429,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_BBs_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the rectangular building blocks and bullets out of the plate by hand and + place them on the table. + sub_tasks: + - subtask: Grasp the green rectangular block on the plate with the left gripper + subtask_index: 0 + - subtask: Grasp the bullet on the plate with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Abnormal + subtask_index: 3 + - subtask: Place the bullet on the table with the right gripper + subtask_index: 4 + - subtask: Place the green rectangular block on the table with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13927 + dataset_size: 449.13 MB + data_structure: "Airbot_MMK2_take_BBs_block_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (31 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_block.yaml b/dataset_info/Airbot_MMK2_take_block.yaml index 256d420111befaf8652e6ccb8ed2f6226f54d681..30cb281457fc9930109bc07a9a36167f14ac71fc 100644 --- a/dataset_info/Airbot_MMK2_take_block.yaml +++ b/dataset_info/Airbot_MMK2_take_block.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: building_blocks level1: toys level2: building_blocks @@ -45,36 +45,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the building blocks off the white plate by hands. +task_result: 'null' +task_instruction: take the building blocks off the white plate by hands. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place red rectangular block on the table with the left gripper - subtask_index: 1 -- subtask: Grasp the red rectangular block on the plate with the left gripper - subtask_index: 2 -- subtask: Grasp the green rectangular block on the plate with the right gripper - subtask_index: 3 -- subtask: Place green rectangular block on the table with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Place red rectangular block on the table with the left gripper +- Grasp the red rectangular block on the plate with the left gripper +- Grasp the green rectangular block on the plate with the right gripper +- Place green rectangular block on the table with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -83,10 +76,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -94,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 10270 fps: 30 @@ -121,9 +118,11 @@ data_structure: "Airbot_MMK2_take_block_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -393,7 +392,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -401,6 +400,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -427,6 +427,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_block + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the building blocks off the white plate by hands. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place red rectangular block on the table with the left gripper + subtask_index: 1 + - subtask: Grasp the red rectangular block on the plate with the left gripper + subtask_index: 2 + - subtask: Grasp the green rectangular block on the plate with the right gripper + subtask_index: 3 + - subtask: Place green rectangular block on the table with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 10270 + dataset_size: 334.13 MB + data_structure: "Airbot_MMK2_take_block_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_block_both_hands.yaml b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml index a8270c000349dec7d630656b1ce9375aae534315..924632b71afae435a76ac2849d769be05414155c 100644 --- a/dataset_info/Airbot_MMK2_take_block_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: square_building_blocks level1: toys level2: square_building_blocks @@ -45,39 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the building blocks simultaneously with both hands and take them out of - the paper box. +task_result: 'null' +task_instruction: pick up the building blocks simultaneously with both hands and take + them out of the paper box. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the blue cube block on the paper box with the left gripper - subtask_index: 1 -- subtask: Static - subtask_index: 2 -- subtask: Grasp the green cube block on the paper box with the right gripper - subtask_index: 3 -- subtask: Place the green cube block on the table with the right gripper - subtask_index: 4 -- subtask: Place the blue cube block on the table with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- End +- Grasp the blue cube block on the paper box with the left gripper +- Static +- Grasp the green cube block on the paper box with the right gripper +- Place the green cube block on the table with the right gripper +- Place the blue cube block on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -86,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -97,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 47 total_frames: 4793 fps: 30 @@ -125,9 +121,11 @@ data_structure: "Airbot_MMK2_take_block_both_hands_qced_hardlink/\n|-- annotatio \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:46 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -397,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -405,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -431,6 +430,135 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_block_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the building blocks simultaneously with both hands and take them out of + the paper box. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the blue cube block on the paper box with the left gripper + subtask_index: 1 + - subtask: Static + subtask_index: 2 + - subtask: Grasp the green cube block on the paper box with the right gripper + subtask_index: 3 + - subtask: Place the green cube block on the table with the right gripper + subtask_index: 4 + - subtask: Place the blue cube block on the table with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 4793 + dataset_size: 221.66 MB + data_structure: "Airbot_MMK2_take_block_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_book.yaml b/dataset_info/Airbot_MMK2_take_book.yaml index 2980711c05b485ddede4e2e35250c8e806e2e214..41e5c36a38cba580c08736d21bbd145d34252c65 100644 --- a/dataset_info/Airbot_MMK2_take_book.yaml +++ b/dataset_info/Airbot_MMK2_take_book.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: book level1: stationery level2: book @@ -39,34 +39,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take a book from the forward pile with hand. +task_result: 'null' +task_instruction: take a book from the forward pile with hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the book on the table with the right gripper - subtask_index: 1 -- subtask: Hook the third book on the right with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Place the book on the table with the right gripper +- Hook the third book on the right with the right gripper +- 'null' atomic_actions: - clip - pull - pick - takeout - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -75,10 +70,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -86,7 +84,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 28489 fps: 30 @@ -113,9 +112,11 @@ data_structure: "Airbot_MMK2_take_book_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -385,7 +386,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -393,6 +394,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -419,6 +421,130 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_book + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take a book from the forward pile with hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the book on the table with the right gripper + subtask_index: 1 + - subtask: Hook the third book on the right with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - clip + - pull + - pick + - takeout + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28489 + dataset_size: 1.03 GB + data_structure: "Airbot_MMK2_take_book_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml index 209a605b9f8bae8ac252736ffde09524e2e5f5f5..62f751a030c9216f64ef9cc5b8fc794300610f98 100644 --- a/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml +++ b/dataset_info/Airbot_MMK2_take_bottle_umbrella.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: empty_bottle level1: mineral_water level2: empty_bottle @@ -51,37 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the umbrella off the lid with right hand, and then remove the bottle from the - lid with left hand. +task_result: 'null' +task_instruction: take the umbrella off the lid with right hand, and then remove the + bottle from the lid with left hand. sub_tasks: -- subtask: ' Grasp the umbrella placed on the white lid with the left gripper' - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the Yibao placed on the white lid with the left gripper - subtask_index: 2 -- subtask: Place the umbrella on the table with the right gripper - subtask_index: 3 -- subtask: Place the Yibao on the table with the left gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the umbrella placed on the white lid with the left gripper +- End +- Grasp the Yibao placed on the white lid with the left gripper +- Place the umbrella on the table with the right gripper +- Place the Yibao on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -90,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -101,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 54 total_frames: 18663 fps: 30 @@ -129,9 +126,11 @@ data_structure: "Airbot_MMK2_take_bottle_umbrella_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:53 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +435,133 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_bottle_umbrella + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the umbrella off the lid with right hand, and then remove the bottle from + the lid with left hand. + sub_tasks: + - subtask: ' Grasp the umbrella placed on the white lid with the left gripper' + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the Yibao placed on the white lid with the left gripper + subtask_index: 2 + - subtask: Place the umbrella on the table with the right gripper + subtask_index: 3 + - subtask: Place the Yibao on the table with the left gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 18663 + dataset_size: 759.87 MB + data_structure: "Airbot_MMK2_take_bottle_umbrella_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (42 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml b/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml index 00dc179f955c813daa783decd8a173f3c4437a86..c4818fddf21589cea9984a353094d58707ffbfb6 100644 --- a/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml +++ b/dataset_info/Airbot_MMK2_take_bowl_sponge.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cleaning_sponge level1: cleaning level2: cleaning_sponge @@ -51,38 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the sponge and bowl by hand and place them on the table. +task_result: 'null' +task_instruction: pick up the sponge and bowl by hand and place them on the table. sub_tasks: -- subtask: Place the sponge on the table with the left gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Grasp the sponge on the white basket and with the left gripper - subtask_index: 2 -- subtask: Grasp the bowl on the white basket and with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the bowl on the table with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the sponge on the table with the left gripper +- Abnormal +- Grasp the sponge on the white basket and with the left gripper +- Grasp the bowl on the white basket and with the right gripper +- End +- Place the bowl on the table with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 42 total_frames: 11308 fps: 30 @@ -130,9 +126,11 @@ data_structure: "Airbot_MMK2_take_bowl_sponge_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:41 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -402,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -410,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -436,6 +435,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_bowl_sponge + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the sponge and bowl by hand and place them on the table. + sub_tasks: + - subtask: Place the sponge on the table with the left gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Grasp the sponge on the white basket and with the left gripper + subtask_index: 2 + - subtask: Grasp the bowl on the white basket and with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the bowl on the table with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 11308 + dataset_size: 373.70 MB + data_structure: "Airbot_MMK2_take_bowl_sponge_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (30 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml index 9342a1193d9181a50ff4b7aa80311c3378da6c64..f14d857821ca61843737b54c64319160a25abc7a 100644 --- a/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_take_cake_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: chocolate_cake level1: snacks level2: chocolate_cake @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the cake out of the basket with both hands and place it on the table. +task_result: 'null' +task_instruction: take the cake out of the basket with both hands and place it on + the table. sub_tasks: -- subtask: Place the cake on the table with the right gripper - subtask_index: 0 -- subtask: Place the cake on the table with the left gripper - subtask_index: 1 -- subtask: Grasp the cake from the white basket with the left gripper - subtask_index: 2 -- subtask: Grasp the cake from the white basket with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the cake on the table with the right gripper +- Place the cake on the table with the left gripper +- Grasp the cake from the white basket with the left gripper +- Grasp the cake from the white basket with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 48 total_frames: 6044 fps: 30 @@ -128,9 +126,11 @@ data_structure: "Airbot_MMK2_take_cake_both_hands_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:47 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +435,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_cake_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the cake out of the basket with both hands and place it on the table. + sub_tasks: + - subtask: Place the cake on the table with the right gripper + subtask_index: 0 + - subtask: Place the cake on the table with the left gripper + subtask_index: 1 + - subtask: Grasp the cake from the white basket with the left gripper + subtask_index: 2 + - subtask: Grasp the cake from the white basket with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6044 + dataset_size: 232.01 MB + data_structure: "Airbot_MMK2_take_cake_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (36 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_cup.yaml b/dataset_info/Airbot_MMK2_take_cup.yaml index b2e561861bd6231bb9197a29d157f1b0d542d435..838be1e129e929dd42c09ea61e331cf524424877 100644 --- a/dataset_info/Airbot_MMK2_take_cup.yaml +++ b/dataset_info/Airbot_MMK2_take_cup.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: cup level1: cups level2: cup @@ -45,37 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the cup off the white lid and place them on the table by hands. +task_result: 'null' +task_instruction: take the cup off the white lid and place them on the table by hands. sub_tasks: -- subtask: place the cup in the table use the left gripper - subtask_index: 0 -- subtask: place the cup in the table use the right gripper - subtask_index: 1 -- subtask: Grasp the cup the left gripper - subtask_index: 2 -- subtask: Grasp the cup the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- place the cup in the table use the left gripper +- place the cup in the table use the right gripper +- Grasp the cup the left gripper +- Grasp the cup the right gripper +- End +- 'null' atomic_actions: - pinch - place - clip - takeout -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -84,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -95,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 35 total_frames: 5435 fps: 30 @@ -182,9 +179,11 @@ data_structure: 'Airbot_MMK2_take_cup_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:34 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -454,7 +453,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -462,6 +461,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -488,6 +488,192 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_cup + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: catering + level2: cafe + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the cup off the white lid and place them on the table by hands. + sub_tasks: + - subtask: place the cup in the table use the left gripper + subtask_index: 0 + - subtask: place the cup in the table use the right gripper + subtask_index: 1 + - subtask: Grasp the cup the left gripper + subtask_index: 2 + - subtask: Grasp the cup the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - pinch + - place + - clip + - takeout + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 5435 + dataset_size: 169.73 MB + data_structure: 'Airbot_MMK2_take_cup_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (23 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_front_rgb + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_dog_doll.yaml b/dataset_info/Airbot_MMK2_take_dog_doll.yaml index 2d5af016f87e76530fc1f4c1590d58dcb8f2f8de..ed400bc85ac5789eb65b046427618c2b44a2cccf 100644 --- a/dataset_info/Airbot_MMK2_take_dog_doll.yaml +++ b/dataset_info/Airbot_MMK2_take_dog_doll.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: toy_dog level1: doll level2: toy_dog @@ -51,32 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the toy dog from the white lid by hand and place it on the table. +task_result: 'null' +task_instruction: pick up the toy dog from the white lid by hand and place it on the + table. sub_tasks: -- subtask: Place the puppy on the table with the left and right grippers - subtask_index: 0 -- subtask: Grasp the puppy with the left and right grippers - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- Place the puppy on the table with the left and right grippers +- Grasp the puppy with the left and right grippers +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +81,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6425 fps: 30 @@ -123,9 +123,11 @@ data_structure: "Airbot_MMK2_take_dog_doll_qced_hardlink/\n|-- annotations\n| | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +397,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +405,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +432,128 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_dog_doll + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the toy dog from the white lid by hand and place it on the table. + sub_tasks: + - subtask: Place the puppy on the table with the left and right grippers + subtask_index: 0 + - subtask: Grasp the puppy with the left and right grippers + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6425 + dataset_size: 253.22 MB + data_structure: "Airbot_MMK2_take_dog_doll_qced_hardlink/\n|-- annotations\n| \ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_drink.yaml b/dataset_info/Airbot_MMK2_take_drink.yaml index d4af526226c6d5a8c79b2c11c7665b77342ed003..266bb03e8dbed375c05b8c7363eafbd33be28bd7 100644 --- a/dataset_info/Airbot_MMK2_take_drink.yaml +++ b/dataset_info/Airbot_MMK2_take_drink.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: any_beverages level1: beverages level2: any_beverages @@ -45,44 +45,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the drink by hand and put it on the table. +task_result: 'null' +task_instruction: pick up the drink by hand and put it on the table. sub_tasks: -- subtask: Place the coffee on the table with the left gripper - subtask_index: 0 -- subtask: Place the vitamin B water on the table with the left gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: Place the vitamin B water on the table with the right gripper - subtask_index: 3 -- subtask: Place the coffee on the table with the right gripper - subtask_index: 4 -- subtask: Grasp the vitamin B water on the white lid with the left gripper - subtask_index: 5 -- subtask: Grasp the vitamin B water on the white lid with the right gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: Grasp the coffee on the white lid with the right gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Place the coffee on the table with the left gripper +- Place the vitamin B water on the table with the left gripper +- Abnormal +- Place the vitamin B water on the table with the right gripper +- Place the coffee on the table with the right gripper +- Grasp the vitamin B water on the white lid with the left gripper +- Grasp the vitamin B water on the white lid with the right gripper +- End +- Grasp the coffee on the white lid with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -91,10 +80,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 86 total_frames: 17345 fps: 30 @@ -129,9 +122,11 @@ data_structure: "Airbot_MMK2_take_drink_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:85 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -401,7 +396,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -409,6 +404,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -435,6 +431,140 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_drink + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the drink by hand and put it on the table. + sub_tasks: + - subtask: Place the coffee on the table with the left gripper + subtask_index: 0 + - subtask: Place the vitamin B water on the table with the left gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: Place the vitamin B water on the table with the right gripper + subtask_index: 3 + - subtask: Place the coffee on the table with the right gripper + subtask_index: 4 + - subtask: Grasp the vitamin B water on the white lid with the left gripper + subtask_index: 5 + - subtask: Grasp the vitamin B water on the white lid with the right gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: Grasp the coffee on the white lid with the right gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 17345 + dataset_size: 570.83 MB + data_structure: "Airbot_MMK2_take_drink_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (74 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_egg.yaml b/dataset_info/Airbot_MMK2_take_egg.yaml index bf0e934876afcd3e47c501eaffb0008e6e66d44f..07184a9867cf261e68f8b8aeabe41e2865b4276c 100644 --- a/dataset_info/Airbot_MMK2_take_egg.yaml +++ b/dataset_info/Airbot_MMK2_take_egg.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: egg_carton level1: disposable_items level2: egg_carton @@ -45,32 +45,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take out the brown eggs from the egg box. +task_result: 'null' +task_instruction: take out the brown eggs from the egg box. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Place the egg on the table with the right gripper - subtask_index: 1 -- subtask: Grasp the egg from the egg storage box with the right gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Place the egg on the table with the right gripper +- Grasp the egg from the egg storage box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +74,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +88,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 101 total_frames: 18643 fps: 30 @@ -117,9 +116,11 @@ data_structure: "Airbot_MMK2_take_egg_qced_hardlink/\n|-- annotations\n| |-- e | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:100 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -389,7 +390,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -397,6 +398,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -423,6 +425,128 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_egg + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: catering + level2: restaurant + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take out the brown eggs from the egg box. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Place the egg on the table with the right gripper + subtask_index: 1 + - subtask: Grasp the egg from the egg storage box with the right gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 18643 + dataset_size: 758.58 MB + data_structure: "Airbot_MMK2_take_egg_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (89 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_electronics.yaml b/dataset_info/Airbot_MMK2_take_electronics.yaml index 87cbb9c778d7a746d404512c249dedee6ef39104..d78488044c711337856ff74518e5adb6b016076f 100644 --- a/dataset_info/Airbot_MMK2_take_electronics.yaml +++ b/dataset_info/Airbot_MMK2_take_electronics.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: paper_boxes level1: baskets level2: paper_boxes @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the calculator box and mouse box off the lid and place them on the table. +task_result: 'null' +task_instruction: take the calculator box and mouse box off the lid and place them + on the table. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Place the mouse box on the table with the left gripper - subtask_index: 1 -- subtask: Grasp the calculator box on the white lid and with the right gripper - subtask_index: 2 -- subtask: Grasp the mouse box on the white lid and with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the calculator box on the table with the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Abnormal +- Place the mouse box on the table with the left gripper +- Grasp the calculator box on the white lid and with the right gripper +- Grasp the mouse box on the white lid and with the left gripper +- End +- Place the calculator box on the table with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 13465 fps: 30 @@ -124,9 +121,11 @@ data_structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n|-- annotations\n| \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -396,7 +395,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -404,6 +403,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -430,6 +430,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_electronics + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: industry + level2: factory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the calculator box and mouse box off the lid and place them on the table. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Place the mouse box on the table with the left gripper + subtask_index: 1 + - subtask: Grasp the calculator box on the white lid and with the right gripper + subtask_index: 2 + - subtask: Grasp the mouse box on the white lid and with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the calculator box on the table with the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 13465 + dataset_size: 400.20 MB + data_structure: "Airbot_MMK2_take_electronics_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_take_part_both_hands.yaml b/dataset_info/Airbot_MMK2_take_part_both_hands.yaml index 4cdd4e9da83b95e15fb7b06375f41c9aa7f54f63..638021a88cad8edf17c286f38c5ea7070cbc39c8 100644 --- a/dataset_info/Airbot_MMK2_take_part_both_hands.yaml +++ b/dataset_info/Airbot_MMK2_take_part_both_hands.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: item level1: item level2: item @@ -51,36 +51,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the items off the building blocks with both hands and place them on the table. +task_result: 'null' +task_instruction: take the items off the building blocks with both hands and place + them on the table. sub_tasks: -- subtask: Grasp the steel tube on the cube block with the right gripper - subtask_index: 0 -- subtask: Grasp the steel tube on the cube block with the left gripper - subtask_index: 1 -- subtask: Place the steel tube on the table with the left gripper - subtask_index: 2 -- subtask: Place the steel tube on the table with the right gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the steel tube on the cube block with the right gripper +- Grasp the steel tube on the cube block with the left gripper +- Place the steel tube on the table with the left gripper +- Place the steel tube on the table with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -89,10 +83,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -100,7 +97,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 6348 fps: 30 @@ -128,9 +126,11 @@ data_structure: "Airbot_MMK2_take_part_both_hands_qced_hardlink/\n|-- annotation \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -400,7 +400,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -408,6 +408,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -434,6 +435,132 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_part_both_hands + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the items off the building blocks with both hands and place them on the table. + sub_tasks: + - subtask: Grasp the steel tube on the cube block with the right gripper + subtask_index: 0 + - subtask: Grasp the steel tube on the cube block with the left gripper + subtask_index: 1 + - subtask: Place the steel tube on the table with the left gripper + subtask_index: 2 + - subtask: Place the steel tube on the table with the right gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 6348 + dataset_size: 239.11 MB + data_structure: "Airbot_MMK2_take_part_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_tissues.yaml b/dataset_info/Airbot_MMK2_take_tissues.yaml index 4d6864946b0879dac0d95a695c763a9ac9dafd21..a2d20dbdc6f3bc86dd04f4d6d77c0f6ab817f616 100644 --- a/dataset_info/Airbot_MMK2_take_tissues.yaml +++ b/dataset_info/Airbot_MMK2_take_tissues.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: tissue_paper level1: kitchen_supplies level2: tissue_paper @@ -45,38 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the tissue with your hand and put it on the table. +task_result: 'null' +task_instruction: pick up the tissue with your hand and put it on the table. sub_tasks: -- subtask: Place the tissue on the table with the right gripper - subtask_index: 0 -- subtask: End - subtask_index: 1 -- subtask: Grasp the tissue on the white lid with the right gripper - subtask_index: 2 -- subtask: Place the tissue on the table with the left gripper - subtask_index: 3 -- subtask: Abnormal - subtask_index: 4 -- subtask: Grasp the tissue on the white lid with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Place the tissue on the table with the right gripper +- End +- Grasp the tissue on the white lid with the right gripper +- Place the tissue on the table with the left gripper +- Abnormal +- Grasp the tissue on the white lid with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 8995 fps: 30 @@ -123,9 +119,11 @@ data_structure: "Airbot_MMK2_take_tissues_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +428,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_tissues + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the tissue with your hand and put it on the table. + sub_tasks: + - subtask: Place the tissue on the table with the right gripper + subtask_index: 0 + - subtask: End + subtask_index: 1 + - subtask: Grasp the tissue on the white lid with the right gripper + subtask_index: 2 + - subtask: Place the tissue on the table with the left gripper + subtask_index: 3 + - subtask: Abnormal + subtask_index: 4 + - subtask: Grasp the tissue on the white lid with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8995 + dataset_size: 280.64 MB + data_structure: "Airbot_MMK2_take_tissues_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Airbot_MMK2_take_toy_car.yaml b/dataset_info/Airbot_MMK2_take_toy_car.yaml index 818cdd45b2524a928a547aefa4154b9d5bed18ce..7d2468247381722fa4320dff3d2d7dfb83e6dd51 100644 --- a/dataset_info/Airbot_MMK2_take_toy_car.yaml +++ b/dataset_info/Airbot_MMK2_take_toy_car.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: toy_car level1: doll level2: toy_car @@ -45,38 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- take the toy car out of the plate by hand and place it on the table. +task_result: 'null' +task_instruction: take the toy car out of the plate by hand and place it on the table. sub_tasks: -- subtask: Grasp the toy car on the plate and with the left gripper - subtask_index: 0 -- subtask: Grasp the toy car on the plate and with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the toy car on the table with the right gripper - subtask_index: 4 -- subtask: Place the toy car on the table with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the toy car on the plate and with the left gripper +- Grasp the toy car on the plate and with the right gripper +- Abnormal +- End +- Place the toy car on the table with the right gripper +- Place the toy car on the table with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +77,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 49 total_frames: 14333 fps: 30 @@ -123,9 +119,11 @@ data_structure: "Airbot_MMK2_take_toy_car_qced_hardlink/\n|-- annotations\n| | | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:48 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +393,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +401,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +428,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_take_toy_car + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - take the toy car out of the plate by hand and place it on the table. + sub_tasks: + - subtask: Grasp the toy car on the plate and with the left gripper + subtask_index: 0 + - subtask: Grasp the toy car on the plate and with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the toy car on the table with the right gripper + subtask_index: 4 + - subtask: Place the toy car on the table with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 14333 + dataset_size: 457.72 MB + data_structure: "Airbot_MMK2_take_toy_car_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_turn_page.yaml b/dataset_info/Airbot_MMK2_turn_page.yaml index 6aa1eaf79dd05feec00f66da318d3897993bd875..f69f08260dd14fd4c212e527ff4daeeae2d311ba 100644 --- a/dataset_info/Airbot_MMK2_turn_page.yaml +++ b/dataset_info/Airbot_MMK2_turn_page.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: book level1: stationery level2: books @@ -39,30 +39,25 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- turn a page of the english book on the table with right hand. +task_result: 'null' +task_instruction: turn a page of the english book on the table with right hand. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Turn the book to the next page with the right gripper - subtask_index: 1 -- subtask: Abnormal - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Turn the book to the next page with the right gripper +- Abnormal +- 'null' atomic_actions: - flip -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -71,10 +66,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -82,7 +80,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 149 total_frames: 19581 fps: 30 @@ -109,9 +108,11 @@ data_structure: "Airbot_MMK2_turn_page_qced_hardlink/\n|-- annotations\n| |-- | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:148 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -381,7 +382,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -389,6 +390,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -415,6 +417,126 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_turn_page + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: study_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - turn a page of the english book on the table with right hand. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Turn the book to the next page with the right gripper + subtask_index: 1 + - subtask: Abnormal + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - flip + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 19581 + dataset_size: 740.88 MB + data_structure: "Airbot_MMK2_turn_page_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n|\ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (137 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_unplug.yaml b/dataset_info/Airbot_MMK2_unplug.yaml index b27a9f0c41b64ca262204e651400896f9bbf56fc..30d6aeb230ca31fc4a3a3ff1d32075935b30545b 100644 --- a/dataset_info/Airbot_MMK2_unplug.yaml +++ b/dataset_info/Airbot_MMK2_unplug.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: power_strips level1: appliances level2: power_strips @@ -45,38 +45,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left hand secures the power strip, while the right hand unplugs the charger - and sets it down. +task_result: 'null' +task_instruction: the left hand secures the power strip, while the right hand unplugs + the charger and sets it down. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Release socket with the left hand - subtask_index: 1 -- subtask: Put down plug with the right hand - subtask_index: 2 -- subtask: Press and hold the socket with the left hand - subtask_index: 3 -- subtask: Unplug plug with the right hand - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- End +- Release socket with the left hand +- Put down plug with the right hand +- Press and hold the socket with the left hand +- Unplug plug with the right hand +- 'null' atomic_actions: - uncap - presss - place - pick -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +78,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 90 total_frames: 21487 fps: 30 @@ -123,9 +120,11 @@ data_structure: "Airbot_MMK2_unplug_qced_hardlink/\n|-- annotations\n| |-- eef | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:89 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -395,7 +394,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -403,6 +402,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -429,6 +429,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_unplug + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left hand secures the power strip, while the right hand unplugs the charger + and sets it down. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Release socket with the left hand + subtask_index: 1 + - subtask: Put down plug with the right hand + subtask_index: 2 + - subtask: Press and hold the socket with the left hand + subtask_index: 3 + - subtask: Unplug plug with the right hand + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - uncap + - presss + - place + - pick + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 21487 + dataset_size: 870.71 MB + data_structure: "Airbot_MMK2_unplug_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n\ + | `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |--\ + \ episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n\ + | |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| \ + \ `-- episode_000011.parquet\n| `-- ... (78 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml b/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml index 89fc4e57ad99049dc46ce4ed164d4a8bc6198c14..a12bdd44a6694d2c9a7329ba8263944d2ed55f68 100644 --- a/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml +++ b/dataset_info/Airbot_MMK2_unscrew_bottle_cap.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: beverages level1: beverages level2: beverages @@ -39,38 +39,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the bottle with left hand and unscrew the cap with right hand. +task_result: 'null' +task_instruction: pick up the bottle with left hand and unscrew the cap with right + hand. sub_tasks: -- subtask: Grasp the bottle with the left gripper - subtask_index: 0 -- subtask: Place the bottle on the table with the left gripper - subtask_index: 1 -- subtask: Lift the bottle up with the left gripper - subtask_index: 2 -- subtask: Unscrew the bottle cap with the right hand while holding the bottle with - the left hand - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Grasp the bottle with the left gripper +- Place the bottle on the table with the left gripper +- Lift the bottle up with the left gripper +- Unscrew the bottle cap with the right hand while holding the bottle with the left + hand +- End +- 'null' atomic_actions: - grasp - pick - place - turn -robot_name: -- Airbot_MMK2 +robot_name: Airbot_MMK2 end_effector_type: five_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb - cam_front_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -79,10 +73,13 @@ came_info: cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -90,7 +87,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 16965 fps: 30 @@ -118,9 +116,11 @@ data_structure: "Airbot_MMK2_unscrew_bottle_cap_qced_hardlink/\n|-- annotations\ \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ \ `-- observation.images.cam_right_wrist_rgb" -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -390,7 +390,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -398,6 +398,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -424,6 +425,134 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Airbot_MMK2_unscrew_bottle_cap + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the bottle with left hand and unscrew the cap with right hand. + sub_tasks: + - subtask: Grasp the bottle with the left gripper + subtask_index: 0 + - subtask: Place the bottle on the table with the left gripper + subtask_index: 1 + - subtask: Lift the bottle up with the left gripper + subtask_index: 2 + - subtask: Unscrew the bottle cap with the right hand while holding the bottle with + the left hand + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + - turn + robot_name: + - Airbot_MMK2 + end_effector_type: five_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16965 + dataset_size: 632.68 MB + data_structure: "Airbot_MMK2_unscrew_bottle_cap_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |--\ + \ episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n\ + | |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| \ + \ |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `--\ + \ ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n \ + \ |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml index d91a97eed996b1f0a110cbfc60dcace8e5e540c0..45e231ba6c434b2b3597d3715125e08f61918a12 100644 --- a/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml +++ b/dataset_info/Cobot_Magic_box_storage_chopsticks.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_box_storage_chopsticks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_chopsticks -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: use the right arm to put the chopsticks into the lunch box -objects: +dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-170337 -dataset_size: 6.4GB -statistics: - total_episodes: 499 - total_frames: 170337 - total_tasks: 6 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the right arm to put the chopsticks into the lunch box sub_tasks: - use the right arm to put the chopsticks into the lunch box - Abnormal @@ -67,7 +74,30 @@ sub_tasks: - use the left arm to put the chopsticks into the lunch box - use the right arm to grab a pair of chopsticks - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 499 + total_frames: 170337 + total_tasks: 6 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 170337 +dataset_size: 6.4GB +data_structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +149,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,40 +176,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_box_storage_chopsticks + dataset_name: box_storage_chopsticks + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: use the right arm to put the chopsticks into the lunch box + objects: *id001 + operation_platform_height: null + frame_range: 0-170337 + dataset_size: 6.4GB + statistics: *id002 + dataset_uuid: 820026e7-2878-4127-b935-c5e584a825bc + language: *id003 + task_categories: *id004 + sub_tasks: + - use the right arm to put the chopsticks into the lunch box + - Abnormal + - use the left arm to grab a pair of chopsticks + - End + - Grasp the a pair of chopsticks with the left gripper + - Place the a pair of chopsticks in the box with the left gripper + - use the left arm to put the chopsticks into the lunch box + - use the right arm to grab a pair of chopsticks + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_cap_the_pen_a.yaml b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml index 461c12a4b2251c32cba15ad94ec2d47f5c7f55d5..a5fca0b51a3a8f354669a43e2ad3dc5af203e094 100644 --- a/dataset_info/Cobot_Magic_cap_the_pen_a.yaml +++ b/dataset_info/Cobot_Magic_cap_the_pen_a.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_cap_the_pen_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cap_the_pen_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- insert -tasks: Secure the pen cap with the right hand. -objects: +dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-51317 -dataset_size: 1.0GB -statistics: - total_episodes: 55 - total_frames: 51317 - total_tasks: 1 - total_videos: 165 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Secure the pen cap with the right hand. sub_tasks: - Secure the pen cap with the right hand. - Insert the pen into the cap @@ -70,7 +76,31 @@ sub_tasks: - Place the pen down with the right hand. - Insert the pen cap with the left hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- insert +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -78,7 +108,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 55 + total_frames: 51317 + total_tasks: 1 + total_videos: 165 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 51317 +dataset_size: 1.0GB +data_structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -87,13 +152,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -111,39 +179,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_cap_the_pen_a + dataset_name: cap_the_pen_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - insert + tasks: Secure the pen cap with the right hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-51317 + dataset_size: 1.0GB + statistics: *id002 + dataset_uuid: b549e79c-e49e-4cec-a476-b94bdd766f22 + language: *id003 + task_categories: *id004 + sub_tasks: + - Secure the pen cap with the right hand. + - Insert the pen into the cap + - End + - Put the cap on the pen + - Pick up the pen cap + - Grab the pen barrel with the left hand. + - Secure the pen cap with the left hand. + - Grab the pen cap with the left hand. + - Place the pen on the table + - Abnormal + - Grab the pen cap with the right hand. + - Insert the pen cap with the right hand. + - Grab the pen barrel with the right hand. + - Pick up the pen + - Place the pen down with the right hand. + - Insert the pen cap with the left hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_catch_the_ball.yaml b/dataset_info/Cobot_Magic_catch_the_ball.yaml index a4b3c2502db0b6992f92c2c96da29c395a9cf68e..7343001685f3b36b71c75431733c8cc67e87c372 100644 --- a/dataset_info/Cobot_Magic_catch_the_ball.yaml +++ b/dataset_info/Cobot_Magic_catch_the_ball.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_catch_the_ball +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: catch_the_ball -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Put the picked-up object on the table. -objects: +dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-57085 -dataset_size: 877.6MB -statistics: - total_episodes: 98 - total_frames: 57085 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the picked-up object on the table. sub_tasks: - Put the picked-up object on the table. - Grab the rolling spherical object. - Grab the spherical object with your left arm. - Place the sphere on the white object. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 98 + total_frames: 57085 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 57085 +dataset_size: 877.6MB +data_structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,39 +154,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_catch_the_ball + dataset_name: catch_the_ball + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Put the picked-up object on the table. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-57085 + dataset_size: 877.6MB + statistics: *id002 + dataset_uuid: 3ea12ae6-b4f3-453d-b56f-bca0e5a346c8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the picked-up object on the table. + - Grab the rolling spherical object. + - Grab the spherical object with your left arm. + - Place the sphere on the white object. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml index 0403f405c05cf2c8cabed9ffc14855db5475eb2c..0475124b5cfab4d2884fa84f40e9b65dbe712f98 100644 --- a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_classification_of_fruits_and_vegetables +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: classification_of_fruits_and_vegetables -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: use the left arm to grab a carrot and put it into the right plate -objects: +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-183132 -dataset_size: 9.7GB -statistics: - total_episodes: 301 - total_frames: 183132 - total_tasks: 4 - total_videos: 903 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to grab a carrot and put it into the right plate sub_tasks: - use the left arm to grab a carrot and put it into the right plate - use the right arm to grab a radish and put it into the right plate @@ -76,7 +83,30 @@ sub_tasks: - use the right arm to grab a tomato and put it into the left plate - use the right arm to grab an eggplant and put it into the right plate - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -84,7 +114,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 301 + total_frames: 183132 + total_tasks: 4 + total_videos: 903 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 183132 +dataset_size: 9.7GB +data_structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -93,13 +158,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -117,40 +185,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_classification_of_fruits_and_vegetables + dataset_name: classification_of_fruits_and_vegetables + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: use the left arm to grab a carrot and put it into the right plate + objects: *id001 + operation_platform_height: null + frame_range: 0-183132 + dataset_size: 9.7GB + statistics: *id002 + dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9209 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to grab a carrot and put it into the right plate + - use the right arm to grab a radish and put it into the right plate + - use the left arm to grab a radish and put it into the right plate + - use the left arm to grab an eggplant and put it into the left plate + - use the right arm to grab a chayote and put it into the right plate + - use the left arm to grab a tomato and put it into the left plate + - use the right arm to grab a radish and put it into the left plate + - use the left arm to grab a radish and put it into the left plate + - use the left arm to grab a chayote and put it into the right plate + - use the left arm to grab a chayote and put it into the left plate + - use the right arm to grab an eggplant and put it into the left plate + - use the left arm to grab an eggplant and put it into the right plate + - use the right arm to grab a carrot and put it into the right plate + - use the left arm to grab a carrot and put it into the left plate + - use the right arm to grab a carrot and put it into the left plate + - use the right arm to grab a tomato and put it into the left plate + - use the right arm to grab an eggplant and put it into the right plate + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml index c9da2931a4d41306e41090634659d1f8fc71a29b..041331d0712088ac043439ec0bfcfbba4202bec8 100644 --- a/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml +++ b/dataset_info/Cobot_Magic_classification_of_fruits_and_vegetables_a.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_classification_of_fruits_and_vegetables_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: classification_of_fruits_and_vegetables_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grab a potato with your right arm and put it on the left plate -objects: +dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-187645 -dataset_size: 10.4GB -statistics: - total_episodes: 300 - total_frames: 187645 - total_tasks: 3 - total_videos: 900 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab a potato with your right arm and put it on the left plate sub_tasks: - Grab a potato with your right arm and put it on the left plate - use the right arm to grab a chayote and put it into the left plate @@ -73,7 +80,30 @@ sub_tasks: - Grab a potato with your left arm and put it on the right plate - use the left arm to grab a chayote and put it into the left plate - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -81,7 +111,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 300 + total_frames: 187645 + total_tasks: 3 + total_videos: 900 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 187645 +dataset_size: 10.4GB +data_structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -90,13 +155,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -114,40 +182,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_classification_of_fruits_and_vegetables_a + dataset_name: classification_of_fruits_and_vegetables_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grab a potato with your right arm and put it on the left plate + objects: *id001 + operation_platform_height: null + frame_range: 0-187645 + dataset_size: 10.4GB + statistics: *id002 + dataset_uuid: 792e3e06-8f5e-444d-9a30-740d091a9210 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab a potato with your right arm and put it on the left plate + - use the right arm to grab a chayote and put it into the left plate + - use the left arm to grab a chayote and put it into the right plate + - Grab a potato with your left arm and put it on the left plate + - use the right arm to grab a chayote and put it into the right plate + - use the left arm to grab a carrot and put it into the left plate + - use the left arm to grab a carrot and put it into the right plate + - use the right arm to grab a carrot and put it into the left plate + - Grab a potato with your right arm and put it on the right plate + - use the left arm to grab a radish and put it into the right plate + - Grab the chayote with your right arm and put it on the left plate + - use the right arm to grab a carrot and put it into the right plate + - Grab a potato with your left arm and put it on the right plate + - use the left arm to grab a chayote and put it into the left plate + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_classification_of_tableware.yaml b/dataset_info/Cobot_Magic_classification_of_tableware.yaml index 7ab9608c15d148191e58b94d8c2cd25fce331ea4..9ad7115ddcc6802a6a408a2482f0369721c1b014 100644 --- a/dataset_info/Cobot_Magic_classification_of_tableware.yaml +++ b/dataset_info/Cobot_Magic_classification_of_tableware.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_classification_of_tableware +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: classification_of_tableware -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: use the right arm to grab the plate -objects: +dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -52,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-347004 -dataset_size: 13.1GB -statistics: - total_episodes: 406 - total_frames: 347004 - total_tasks: 5 - total_videos: 1218 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the right arm to grab the plate sub_tasks: - use the right arm to grab the plate - use the right arm to grab a chopstick @@ -92,7 +99,30 @@ sub_tasks: - use the right arm to put the soup spoon into the small storage box in the middle - use the right arm to put the chopsticks into the small storage box on the right - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -100,7 +130,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 406 + total_frames: 347004 + total_tasks: 5 + total_videos: 1218 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 347004 +dataset_size: 13.1GB +data_structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -109,13 +174,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -133,40 +201,131 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_classification_of_tableware + dataset_name: classification_of_tableware + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: use the right arm to grab the plate + objects: *id001 + operation_platform_height: null + frame_range: 0-347004 + dataset_size: 13.1GB + statistics: *id002 + dataset_uuid: 62f60030-04d6-4ae4-aab2-d753cbc6ad85 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the right arm to grab the plate + - use the right arm to grab a chopstick + - use the right arm to put the plate into the large storage box on the left + - use the right arm to put the noodle bowl into the large storage box on the left + - use the right arm to put a chopstick into the small storage box on the right + - use the left arm to put a chopstick into the small storage box on the right + - use the left arm to grab the yellow noodle bowl on the left + - use the left arm to grab a chopstick + - use the left arm to grab the chopsticks + - use the left arm to put the soup spoon into the small storage box in the middle + - use the right arm to grab the soup spoon in the middle + - use the right arm to grab the chopsticks + - use the right arm to put the plate on the tray + - use the right arm to grab the yellow noodle bowl + - use the left arm to grab the soup spoon in the middle + - use the left arm to put the plate into the large storage box on the left + - use the left arm to put the chopsticks into the small storage box on the right + - use the left arm to grab the plate + - use the left arm to put the noodle bowl into the large storage box on the left + - use the right arm to put the soup spoon into the small storage box in the middle + - use the right arm to put the chopsticks into the small storage box on the right + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_classification_of_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_clean_blackboard.yaml b/dataset_info/Cobot_Magic_clean_blackboard.yaml index d1c1e61d54507c5e210a75b7afdceed883742d41..db5862b3cac0c79452ef6b34a8cf88f8c9bbb64b 100644 --- a/dataset_info/Cobot_Magic_clean_blackboard.yaml +++ b/dataset_info/Cobot_Magic_clean_blackboard.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_clean_blackboard +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_blackboard -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- wipe -- place -tasks: Place the blackboard eraser with the right gripper -objects: +dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-689349 -dataset_size: 8.0GB -statistics: - total_episodes: 938 - total_frames: 689349 - total_tasks: 2 - total_videos: 2814 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the blackboard eraser with the right gripper sub_tasks: - Place the blackboard eraser with the right gripper - End @@ -61,7 +67,31 @@ sub_tasks: - Erase the letter a with your right hand. - Release the drawing board with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- wipe +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -69,7 +99,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 938 + total_frames: 689349 + total_tasks: 2 + total_videos: 2814 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 689349 +dataset_size: 8.0GB +data_structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -78,13 +143,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -102,40 +170,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_clean_blackboard + dataset_name: clean_blackboard + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - wipe + - place + tasks: Place the blackboard eraser with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-689349 + dataset_size: 8.0GB + statistics: *id002 + dataset_uuid: 8d45e76c-b43b-46c3-b336-dffdcd73de2b + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the blackboard eraser with the right gripper + - End + - pick up the blackboard eraser with the right gripper + - Erase the letter B use the eraser with the right gripper + - Fixed the drawing board with the left gripper + - Erase the letter a use the eraser with the right gripper + - Grab the eraser with your right hand. + - Hold the drawing board steady with your left hand. + - Erase the letter B with your right hand. + - Put down the eraser with your right hand. + - Secure the drawing board with your left hand. + - Erase the letter a with your right hand. + - Release the drawing board with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_clean_blackboard_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml index 027dbb9692beaee64d9ef22b4777d4d6f32acec7..bd62b719e5f08455abef502e098ab904af9ce1ef 100644 --- a/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml +++ b/dataset_info/Cobot_Magic_clean_up_the_tableware.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_clean_up_the_tableware +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_up_the_tableware -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: use the left arm to grab a blue teacup -objects: +dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-18127 -dataset_size: 1.0GB -statistics: - total_episodes: 33 - total_frames: 18127 - total_tasks: 1 - total_videos: 99 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to grab a blue teacup sub_tasks: - use the left arm to grab a blue teacup - Grasp the bowl with the left gripper @@ -92,7 +99,30 @@ sub_tasks: - Place the bowl on the plate with the right gripper - use the left arm to put the blue rice bowl into the blue large plate in the middle - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -100,7 +130,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 33 + total_frames: 18127 + total_tasks: 1 + total_videos: 99 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 18127 +dataset_size: 1.0GB +data_structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -109,13 +174,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -133,40 +201,137 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_clean_up_the_tableware + dataset_name: clean_up_the_tableware + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: use the left arm to grab a blue teacup + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-18127 + dataset_size: 1.0GB + statistics: *id002 + dataset_uuid: ad865471-39ce-4343-92f4-8dcc8ed48830 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to grab a blue teacup + - Grasp the bowl with the left gripper + - use the right arm to grab a blue rice bowl + - Place the bowl on the plate with the left gripper + - use the left arm to put the blue soup spoon into the blue teacup in the middle + - Grasp the spoon with the left gripper + - Place the spoon on the cup with the left gripper + - use the right arm to put the blue soup spoon on the blue large plate in the middle + - use the left arm to put the blue teacup into the blue rice bowl in the middle + - Grasp the cup with the left gripper + - use the right arm to put the blue soup spoon into the blue teacup in the middle + - use the right arm to put the blue teacup into the blue rice bowl in the middle + - use the left arm to grab a blue rice bowl + - use the right arm to grab a blue teacup + - Place the spoon on the cup with the right gripper + - use the right arm to put the blue rice bowl into the blue large plate in the middle + - abnormal + - Grasp the cup with the right gripper + - use the right arm to grab a blue soup spoon + - Grasp the bowl with the right gripper + - Grasp the spoon with the right gripper + - Place the cup on the bowl with the right gripper + - Place the cup on the bowl with the left gripper + - use the left arm to grab a blue soup spoon + - End + - Place the bowl on the plate with the right gripper + - use the left arm to put the blue rice bowl into the blue large plate in the middle + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_clear_the_desktop.yaml b/dataset_info/Cobot_Magic_clear_the_desktop.yaml index 2a539aef113ce774c8be19ee7ae8cda342a223d1..5caa18bae97b9fea85b2a2bf9701d7e54631cb42 100644 --- a/dataset_info/Cobot_Magic_clear_the_desktop.yaml +++ b/dataset_info/Cobot_Magic_clear_the_desktop.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_clear_the_desktop +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clear_the_desktop -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the tablecloth -objects: +dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-157415 -dataset_size: 1018.3MB -statistics: - total_episodes: 293 - total_frames: 157415 - total_tasks: 3 - total_videos: 879 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the tablecloth sub_tasks: - Place the tablecloth - Sweep the stains on the table @@ -54,7 +61,30 @@ sub_tasks: - Pick up the tablecloth - Pick up the tablecloth with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 293 + total_frames: 157415 + total_tasks: 3 + total_videos: 879 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 157415 +dataset_size: 1018.3MB +data_structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_clear_the_desktop + dataset_name: clear_the_desktop + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the tablecloth + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-157415 + dataset_size: 1018.3MB + statistics: *id002 + dataset_uuid: 1ef1c2b2-61c3-459c-a45b-332abc0bdb3e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the tablecloth + - Sweep the stains on the table + - End + - Sweep the stains on the table with the right gripper + - Place the tablecloth with the right gripper + - Pick up the tablecloth + - Pick up the tablecloth with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_close_book.yaml b/dataset_info/Cobot_Magic_close_book.yaml index 9991071ef1d233b197ead4715579c061606e5f02..1fbd2d1105ff1cebe7c54334b2a955d54f3192e7 100644 --- a/dataset_info/Cobot_Magic_close_book.yaml +++ b/dataset_info/Cobot_Magic_close_book.yaml @@ -1,14 +1,35 @@ -path: Cobot_Magic_close_book +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: close_book -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- press -- close -tasks: Abnormal -objects: +dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,30 +48,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-138451 -dataset_size: 2.8GB -statistics: - total_episodes: 287 - total_frames: 138451 - total_tasks: 3 - total_videos: 861 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - End - Close the book - Close the open book - 'null' -annotations: +atomic_actions: +- press +- close +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +88,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 287 + total_frames: 138451 + total_tasks: 3 + total_videos: 861 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 138451 +dataset_size: 2.8GB +data_structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,38 +159,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_close_book + dataset_name: close_book + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - press + - close + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-138451 + dataset_size: 2.8GB + statistics: *id002 + dataset_uuid: 778d9b66-c492-4978-9a1e-f67a5ba3636c + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - End + - Close the book + - Close the open book + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_close_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_close_button.yaml b/dataset_info/Cobot_Magic_close_button.yaml index 6a8d76b70a563b595f1fe867cbb64db519974c18..1d660570274ba370cd7f649c88869bb916f81429 100644 --- a/dataset_info/Cobot_Magic_close_button.yaml +++ b/dataset_info/Cobot_Magic_close_button.yaml @@ -1,13 +1,35 @@ -path: Cobot_Magic_close_button +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: close_button -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- press -tasks: end -objects: +dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -26,29 +48,37 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-18136 -dataset_size: 1.8GB -statistics: - total_episodes: 60 - total_frames: 18136 - total_tasks: 6 - total_videos: 180 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: end sub_tasks: - end - Press the first switch from the left on the right side. - Press the button to turn off - 'null' -annotations: +atomic_actions: +- press +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 60 + total_frames: 18136 + total_tasks: 6 + total_videos: 180 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 18136 +dataset_size: 1.8GB +data_structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,38 +157,111 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_close_button + dataset_name: close_button + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - press + tasks: end + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-18136 + dataset_size: 1.8GB + statistics: *id002 + dataset_uuid: 477f8a4a-e9ab-4a19-ad78-62aca316cbea + language: *id003 + task_categories: *id004 + sub_tasks: + - end + - Press the first switch from the left on the right side. + - Press the button to turn off + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_close_button_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_cube_reset.yaml b/dataset_info/Cobot_Magic_cube_reset.yaml index 566c4a7603c54e936fbac847c8ccf09446901147..a8c25c7d00559567ea8e9c5cb606865aac1f4e1a 100644 --- a/dataset_info/Cobot_Magic_cube_reset.yaml +++ b/dataset_info/Cobot_Magic_cube_reset.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_cube_reset +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cube_reset -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-28883 -dataset_size: 514.5MB -statistics: - total_episodes: 98 - total_frames: 28883 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Pick up the cube @@ -52,7 +59,30 @@ sub_tasks: - Place cube into the cube recess - Place cube into the cube-shaped recess - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 98 + total_frames: 28883 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 28883 +dataset_size: 514.5MB +data_structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,38 +161,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_cube_reset + dataset_name: cube_reset + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-28883 + dataset_size: 514.5MB + statistics: *id002 + dataset_uuid: 5f4b3baf-119d-489b-b64d-59ea1b989422 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Pick up the cube + - Grasp the cube + - Place cube into the cube recess + - Place cube into the cube-shaped recess + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_cut_banana.yaml b/dataset_info/Cobot_Magic_cut_banana.yaml index a5e3eb73488afdcd0e63fb850881bd5aef52cc9b..67b89367d21641390549c6427047f5bb82a8675d 100644 --- a/dataset_info/Cobot_Magic_cut_banana.yaml +++ b/dataset_info/Cobot_Magic_cut_banana.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_cut_banana +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cut_banana -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- cut -- place -tasks: Cut the banana with your left hand. -objects: +dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -47,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-310367 -dataset_size: 4.2GB -statistics: - total_episodes: 583 - total_frames: 310367 - total_tasks: 2 - total_videos: 1749 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Cut the banana with your left hand. sub_tasks: - Cut the banana with your left hand. - Cut the banana with your right hand. @@ -75,7 +81,31 @@ sub_tasks: - end - Lift the knife with your right hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- cut +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -83,7 +113,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 583 + total_frames: 310367 + total_tasks: 2 + total_videos: 1749 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 310367 +dataset_size: 4.2GB +data_structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -92,13 +157,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -116,38 +184,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_cut_banana + dataset_name: cut_banana + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - cut + - place + tasks: Cut the banana with your left hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-310367 + dataset_size: 4.2GB + statistics: *id002 + dataset_uuid: 3637d17f-4a5a-4801-902f-3e5aee09f48b + language: *id003 + task_categories: *id004 + sub_tasks: + - Cut the banana with your left hand. + - Cut the banana with your right hand. + - Hold the blade with your left hand. + - Discard the waste. + - Secure the blade with your left hand. + - Place the knife on the storage rack with your right hand. + - Grab the knife handle with your right hand. + - end + - Lift the knife with your right hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_desktop_organization.yaml b/dataset_info/Cobot_Magic_desktop_organization.yaml index bb8e91d603a8c7a254164d74a1faa36cac90b716..8cfcd2337eca0543615c34187b6c2bbfb89fa15e 100644 --- a/dataset_info/Cobot_Magic_desktop_organization.yaml +++ b/dataset_info/Cobot_Magic_desktop_organization.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_desktop_organization +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: desktop_organization -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand over the waste paper -objects: +dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -166,23 +186,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-2026628 -dataset_size: 32.3GB -statistics: - total_episodes: 1070 - total_frames: 2026628 - total_tasks: 6 - total_videos: 3210 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand over the waste paper sub_tasks: - Hand over the waste paper - Place the red pencil sharpener into the pen holder @@ -292,7 +299,30 @@ sub_tasks: - Place the waste paper in the basket - place the yellow knife into the pen holder - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -300,41 +330,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n\ +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1070 + total_frames: 2026628 + total_tasks: 6 + total_videos: 3210 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 2026628 +dataset_size: 32.3GB +data_structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n\ │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ @@ -363,32 +370,285 @@ data_schema: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotat \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ - │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ - \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ - │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ - \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ - \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_desktop_organization + dataset_name: desktop_organization + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand over the waste paper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-2026628 + dataset_size: 32.3GB + statistics: *id002 + dataset_uuid: 32b7ba5a-b7c4-475c-8bcc-6b60402acd24 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand over the waste paper + - Place the red pencil sharpener into the pen holder + - place the silver glue into the pen holder + - Place the cola can in the basket with left gripper + - Place the waste paper in the basket with left gripper + - Place the eraser in pen holder with left gripper + - Grasp the waste paper with right gripper + - Place the pear in the plate + - Static + - Hand over the plastic + - Grasp the bottle with left gripper + - pick up the ruler + - Place the black pen in pen holder with left gripper + - Grasp the banana with left gripper + - Pick up the banana + - Hand over the banana + - Pick up the pen with right arm + - Place the cola can in the basket with right gripper + - Hand over the grapes + - Place the basket on the table with right gripper + - Pick up the red pencil sharpener + - Stand the bottle with left gripper + - Pick up the waste paper + - Grasp the blue pen with left gripper + - pick up the yellow knife + - Place the eraser into the pen holder + - Place the black pen in pen holder with right gripper + - Place the gray pen in pen holder with right gripper + - Place the gray pen in pen holder with left gripper + - Place the milk in the basket with right gripper + - pick up the red glue + - Hand over the yellow glue + - Hand over the bottle + - Place the plastic in the basket + - Pick up the grapes + - pick up the pink scissors + - pick up the silver glue + - Abnormal + - Place the blue pen in pen holder with right gripper + - Place the blue pen in pen holder with left gripper + - Place the yellow pen in pen holder with right gripper + - Grasp the cola can with right gripper + - Grasp the mango with left gripper + - Grasp the black pen with left gripper + - Grasp the blue pen with right gripper + - Grasp the eraser with right gripper + - Pick up the plastic + - Place the waste paper in the basket with right gripper + - Grasp the cola can with left gripper + - Place the cola can on the table with left gripper + - Pick up the eraser + - Grasp the waste paper with left gripper + - Grasp the yellow pen with right gripper + - Place the pink scissors into the pen holder + - Lift the basket with left gripper + - Pick up the bottle with the right arm + - Hand over the bread + - Place the grapes in the plate + - transfer the pen to the left arm + - transfer the bottle to the left arm + - Hand over the red glue + - End + - Hand over the yellow knife + - Hand over the ruler + - Place the blue scissors into the pen holder + - Place the yellow pen in pen holder with left gripper + - Hand over the blue knife + - Place the pen into the pen holder + - Pick up the pear + - transfer the pen to the right arm + - Place the blue knife into the pen holder + - Place the mango in the plate with left gripper + - pick up the yellow glue + - Hand over the pear + - Place the blue pencil sharpener into the pen holder + - Grasp the black pen with right gripper + - Hand over the pink scissors + - Pick up the bottle with the left arm + - Grasp the gray pen with right gripper + - Grasp the eraser with left gripper + - Place the eraser in pen holder with right gripper + - Grasp the basket with left gripper + - Pick up the pen with left arm + - Pick up the blue pencil sharpener + - pick up the bread + - Hand over the pen + - Place the milk in the basket with left gripper + - place the red glue into the pen holder + - Place the banana in the plate with left gripper + - Hand the basket to the right gripper with the left gripper + - place the bread in the plate + - Grasp the yellow pen with left gripper + - Hand over the blue scissors + - place the yellow glue into the pen holder + - pick up the blue knife + - Place the cola can on the table with right gripper + - Place the bottle + - Grasp the gray pen with left gripper + - Place the ruler into the pen holder + - pick up the blue scissors + - Grasp the milk with right gripper + - Place the banana in the plate + - Grasp the milk with left gripper + - Place the basket on the table with left gripper + - Hand over the silver glue + - Place the waste paper in the basket + - place the yellow knife into the pen holder + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml index 4e291b9b0d520eaf7bd8080187c9b7243b70fd78..a9fbb0d30c9dec97d41f5068e2e02cf454c12460 100644 --- a/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml +++ b/dataset_info/Cobot_Magic_drawer_storage_mineral_water.yaml @@ -1,17 +1,35 @@ -path: Cobot_Magic_drawer_storage_mineral_water +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: drawer_storage_mineral_water -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -- push -tasks: Open the drawer. -objects: +dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -30,29 +48,41 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-55966 -dataset_size: 944.2MB -statistics: - total_episodes: 99 - total_frames: 55966 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Open the drawer. sub_tasks: - Open the drawer. - Place the water bottle inside the drawer. - Close the drawer. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 99 + total_frames: 55966 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 55966 +dataset_size: 944.2MB +data_structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,40 +161,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_drawer_storage_mineral_water + dataset_name: drawer_storage_mineral_water + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + - push + tasks: Open the drawer. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-55966 + dataset_size: 944.2MB + statistics: *id002 + dataset_uuid: b3ab23c8-c660-442b-a379-1dad52a7e701 + language: *id003 + task_categories: *id004 + sub_tasks: + - Open the drawer. + - Place the water bottle inside the drawer. + - Close the drawer. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_fold_clothes.yaml b/dataset_info/Cobot_Magic_fold_clothes.yaml index c38229ac26480d0b38718e993a5f5fe13e002767..48240eca47a3992b39194ab9db40b3e285d8254f 100644 --- a/dataset_info/Cobot_Magic_fold_clothes.yaml +++ b/dataset_info/Cobot_Magic_fold_clothes.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_fold_clothes +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_clothes -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-774487 -dataset_size: 27.7GB -statistics: - total_episodes: 584 - total_frames: 774487 - total_tasks: 6 - total_videos: 1752 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - use the right arm to drag the right edge of the fabric to the left and folds it @@ -72,7 +79,30 @@ sub_tasks: right edge - Spread the long sleeves with your arms and place them on the tabletop - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -80,7 +110,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 584 + total_frames: 774487 + total_tasks: 6 + total_videos: 1752 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 774487 +dataset_size: 27.7GB +data_structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -89,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -113,38 +181,136 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_fold_clothes + dataset_name: fold_clothes + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-774487 + dataset_size: 27.7GB + statistics: *id002 + dataset_uuid: 9ada1a09-15dc-469e-9b36-c01a488ceecf + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - use the right arm to drag the right edge of the fabric to the left and folds it + over the left edge + - use the right arm to clamp the right edge of the fabric + - Use your right arm to clamp the cuff closest to him + - use the right arm to drag and place the cuff at thecentered position on the left + edge of the fabric + - use the right arm to drag the right edge of the fabric to the right and folds + it over the left edge + - Hold the left edge of the fabric with your left arm + - use the left arm to drag and drop the cuff onto the cuff closest to the left arm + - use the right arm to drag and drop the cuff onto the cuffclosest to the right + arm + - Spread the clothes out flat on the table with both grippers + - use both arms to drag the lower edge of the fabric forward and fold it over the + upper edge + - use the left arm to drag and place the cuff at the centered position on the left + edge of the fabric + - Abnormal + - use both arms simultaneously to clamp the lower edge of the clothing fabric + - use the left arm to clamp the cuff farthest from it + - Use your right arm to clamp the cuff farthest to him + - use the left arm to clamp the cuff closest to it + - Drag the left edge of the fabric to the left with your left arm and fold it to + the right edge + - Spread the long sleeves with your arms and place them on the tabletop + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_fold_the_towel.yaml b/dataset_info/Cobot_Magic_fold_the_towel.yaml index da5485aad4d1982c51bb6c016bf1af0a497fe874..e635c96340e52305b4785a706c24f552303b2466 100644 --- a/dataset_info/Cobot_Magic_fold_the_towel.yaml +++ b/dataset_info/Cobot_Magic_fold_the_towel.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_fold_the_towel +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_the_towel -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- fold -tasks: End -objects: +dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-235124 -dataset_size: 5.1GB -statistics: - total_episodes: 177 - total_frames: 235124 - total_tasks: 3 - total_videos: 531 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Fold the towel upwards with the both gripper @@ -56,7 +62,31 @@ sub_tasks: - Fold the towel - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- fold +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 177 + total_frames: 235124 + total_tasks: 3 + total_videos: 531 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 235124 +dataset_size: 5.1GB +data_structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,39 +165,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_fold_the_towel + dataset_name: fold_the_towel + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - fold + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-235124 + dataset_size: 5.1GB + statistics: *id002 + dataset_uuid: 15a5b235-0337-4484-9e0f-be8def7a8879 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Fold the towel upwards with the both gripper + - Fold the towel upwards with the right gripper + - Tidy up the towels + - Fold the towel from right to left with the right gripper + - Fold the towel upwards with the left gripper + - Fold the towel + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_fold_towel_a.yaml b/dataset_info/Cobot_Magic_fold_towel_a.yaml index 5d6cb7f6b054f1285885ae8e2af6e591b8030b12..b69a169434f0730e8c36561e5103adef68dd817e 100644 --- a/dataset_info/Cobot_Magic_fold_towel_a.yaml +++ b/dataset_info/Cobot_Magic_fold_towel_a.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_fold_towel_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_towel_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- fold -tasks: pick up the towel with two arm -objects: +dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,28 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-50478 -dataset_size: 1.7GB -statistics: - total_episodes: 96 - total_frames: 50478 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: pick up the towel with two arm sub_tasks: - pick up the towel with two arm - Fold the towel twice on the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- fold +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -52,7 +82,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 96 + total_frames: 50478 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 50478 +dataset_size: 1.7GB +data_structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -61,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -85,38 +153,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_fold_towel_a + dataset_name: fold_towel_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - fold + tasks: pick up the towel with two arm + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-50478 + dataset_size: 1.7GB + statistics: *id002 + dataset_uuid: 2d50475c-06c8-47bd-a56f-c0d235e1835a + language: *id003 + task_categories: *id004 + sub_tasks: + - pick up the towel with two arm + - Fold the towel twice on the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_food_packaging.yaml b/dataset_info/Cobot_Magic_food_packaging.yaml index ae87c384def222200a9243a0fc0d5c9935d806da..aaaf11e0dca33a989ee6285c48b77109b8195dc1 100644 --- a/dataset_info/Cobot_Magic_food_packaging.yaml +++ b/dataset_info/Cobot_Magic_food_packaging.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_food_packaging +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: food_packaging -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pull -- place -- pick -tasks: Place the banana into the package -objects: +dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -59,23 +78,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-1470087 -dataset_size: 25.8GB -statistics: - total_episodes: 798 - total_frames: 1470087 - total_tasks: 2 - total_videos: 2394 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the banana into the package sub_tasks: - Place the banana into the package - Right hand grabs cucumber. @@ -126,7 +132,31 @@ sub_tasks: - Left hand lifts lunch box. - Place the cucumber into the package - 'null' -annotations: +atomic_actions: +- grasp +- pull +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -134,7 +164,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 798 + total_frames: 1470087 + total_tasks: 2 + total_videos: 2394 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 1470087 +dataset_size: 25.8GB +data_structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -143,13 +208,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -167,39 +235,159 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_food_packaging + dataset_name: food_packaging + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pull + - place + - pick + tasks: Place the banana into the package + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-1470087 + dataset_size: 25.8GB + statistics: *id002 + dataset_uuid: d6b80e23-6bac-471f-a759-a475112b145d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the banana into the package + - Right hand grabs cucumber. + - Right hand moves lunch bag. + - Right hand grabs lunch bag. + - Discard. + - end + - Right hand grabs banana. + - Grasp the box with the right gripper + - Grasp the package with the left gripper + - Left hand grabs lunch box. + - Hold the package and Pick up the bread + - Left hand secures lunch bag. + - Abnormal + - Place the lemon into the package with the right gripper + - Grasp the banana with the right gripper + - Right hand grabs lunch box. + - Left hand stands lunch bag upright. + - Place the pear into the package with the right gripper + - Place the pear into the package + - Grasp the cucumber with the right gripper + - Place the box into the package + - Hold the package and Pick up the box + - Hold the package and Pick up the cucumber + - Right hand stands lunch bag upright. + - Pick up the banana + - Right hand grabs lemon. + - Place the banana into the package with the right gripper + - Place the bread into the package + - Right hand places into bag. + - Left hand moves lunch bag. + - Grasp the lemon with the right gripper + - Right hand grabs bread. + - Pick up the pear + - zip up the zipper to close the bag + - Pick up the box + - Right hand grabs pear. + - Right hand pulls zipper. + - Pick up the bread + - Grasp the pear with the right gripper + - Pick up the cucumber + - Hold the package and Pick up the pear + - Place the box into the package with the right gripper + - Place the cucumber into the package with the right gripper + - Right hand receives lunch box. + - Hold the package and Pick up the banana + - Left hand grabs lunch bag. + - Left hand lifts lunch box. + - Place the cucumber into the package + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/Cobot_Magic_make_fruit_salad.yaml b/dataset_info/Cobot_Magic_make_fruit_salad.yaml index 5566903c449bc2688454007bdb8dcd8f23b03ab4..f8d149b701c73fb4290ab01c5c6c67fce5cdb162 100644 --- a/dataset_info/Cobot_Magic_make_fruit_salad.yaml +++ b/dataset_info/Cobot_Magic_make_fruit_salad.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_make_fruit_salad +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_fruit_salad -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the banana in the basket with left gripper -objects: +dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -52,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-181253 -dataset_size: 3.4GB -statistics: - total_episodes: 687 - total_frames: 181253 - total_tasks: 5 - total_videos: 2061 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the banana in the basket with left gripper sub_tasks: - Place the banana in the basket with left gripper - Place the banana in the basket with right gripper @@ -95,7 +102,30 @@ sub_tasks: - Grasp the banana with right gripper - Place the grape in the basket with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -103,7 +133,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 687 + total_frames: 181253 + total_tasks: 5 + total_videos: 2061 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 181253 +dataset_size: 3.4GB +data_structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -112,13 +177,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -136,40 +204,134 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_make_fruit_salad + dataset_name: make_fruit_salad + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the banana in the basket with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-181253 + dataset_size: 3.4GB + statistics: *id002 + dataset_uuid: 271b7c53-966b-4ed0-a493-1efc8fd71d86 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the banana in the basket with left gripper + - Place the banana in the basket with right gripper + - Static + - Place the apple in the basket with right gripper + - Grasp the grape with right gripper + - End + - Grasp the mango with left gripper + - Grasp the lemon with left gripper + - Place the mango in the basket with right gripper + - Grasp the apple with left gripper + - Place the mango on the table with right gripper + - Place the lemon in the basket with right gripper + - Grasp the lemon with right gripper + - Grasp the grape with left gripper + - Place the apple in the basket with left gripper + - Grasp the mango with right gripper + - Place the grape in the basket with left gripper + - Abnormal + - Place the mango in the basket with left gripper + - Grasp the apple with right gripper + - Grasp the banana with left gripper + - Place the lemon in the basket with left gripper + - Grasp the banana with right gripper + - Place the grape in the basket with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_make_hamburger.yaml b/dataset_info/Cobot_Magic_make_hamburger.yaml index 0a9040ef097c84edf02252027b447706a2c46721..9e610549b592147e93c8d8c6987066dd6f8a575b 100644 --- a/dataset_info/Cobot_Magic_make_hamburger.yaml +++ b/dataset_info/Cobot_Magic_make_hamburger.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_make_hamburger +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_hamburger -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the purple cabbage on the cutlet with the left gripper -objects: +dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -58,23 +78,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-1591383 -dataset_size: 46.7GB -statistics: - total_episodes: 3044 - total_frames: 1591383 - total_tasks: 4 - total_videos: 12176 - total_chunks: 4 - chunks_size: 1000 - fps: 30 -dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the purple cabbage on the cutlet with the left gripper sub_tasks: - Place the purple cabbage on the cutlet with the left gripper - Pick up the tomato slice with the left gripper @@ -124,7 +131,30 @@ sub_tasks: - Right place the top bread slice on the cheese slice. - Place the tomato slice on the bread slice with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -132,44 +162,21 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 3044 + total_frames: 1591383 + total_tasks: 4 + total_videos: 12176 + total_chunks: 4 + chunks_size: 1000 + fps: 30 +frame_num: 1591383 +dataset_size: 46.7GB +data_structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ │ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │\ @@ -231,67 +238,299 @@ data_schema: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\ \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├──\ \ episode_003004.mp4\n └── (...)" -structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n\ - │ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ \ - \ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├──\ - \ episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n\ - │ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ \ - \ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├──\ - \ episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n\ - │ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n \ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │\ - \ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ - \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ - \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ - \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ - \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ - \ episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ \ - \ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├──\ - \ episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ \ - \ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n\ - \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ - \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ - \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ - \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ - \ episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ \ - \ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├──\ - \ episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ \ - \ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├──\ - \ episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n\ - \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ - \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ - \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ - \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ - \ episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n \ - \ │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├──\ - \ episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ - \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├──\ - \ episode_003004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_make_hamburger + dataset_name: make_hamburger + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the purple cabbage on the cutlet with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-1591383 + dataset_size: 46.7GB + statistics: *id002 + dataset_uuid: 50b8b2d7-4195-4264-a972-36006de4241a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the purple cabbage on the cutlet with the left gripper + - Pick up the tomato slice with the left gripper + - Right pick up the patty. + - Right place the lettuce leaf on the bread slice. + - Right place the patty on the tomato slice. + - Place the hamburger lid on the cutlet with the right gripper + - end + - Pick up the bread slices and place them on the tray with the left gripper + - Pick up the purple cabbage with the left gripper + - Left pick up the bottom bread slice. + - Place the lettuce leaf on the bread slice with the right gripper + - Pick up the bread slice with the left gripper + - Left pick up the cheese slice. + - Discard. + - Pick up the cheese slice with the right gripper + - Pick up the tomato slice with the right gripper + - Place the hamburger lid on the cheese slice with the right gripper + - Left place the bottom bread slice on the tray. + - Left place the tomato slice on the lettuce leaf. + - Abnormal + - Place the purple cabbage on the tomato slice with the left gripper + - Place the tomato slice on the lettuce leaf with the right gripper + - Left pick up the tomato slice. + - Pick up the lettuce leaf with the right gripper + - Place the tomato slice on the lettuce leaf with the left gripper + - Place the hamburger lid on the purple cabbage with the right gripper + - Place the tomato slice on the bread slice with the right gripper + - Place the cutlet on the tomato slice with the right gripper + - Place the hamburger lid on the cutlet slice with the left gripper + - Place the cheese slice on the cutlet with the left gripper + - Place the bread slice on the tray with the left gripper + - Place the cutlet on the lettuce leaf with the right gripper + - Left place the cheese slice on the patty. + - Place the hamburger lid on the cheese slice with the left gripper + - Pick up the cutlet with the right gripper + - Left place the bread on the tray. + - Pick up the hamburger lid with the right gripper + - Place the cheese slice on the cutlet with the right gripper + - Pick up the hamburger lid with the left gripper + - Right pick up the top bread slice. + - Pick up the meat patty and place it on top of the tomato with the right gripper + - Pick up the cheese slice with the left gripper + - Right pick up the lettuce leaf. + - Right place the lettuce leaf on the bottom bread. + - Left pick up the bottom bread. + - Right place the top bread slice on the cheese slice. + - Place the tomato slice on the bread slice with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n\ + │ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │\ + \ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └──\ + \ (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n\ + │ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │\ + \ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ \ + \ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├──\ + \ episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │\ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n\ + \ │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │\ + \ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n\ + \ │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │\ + \ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├──\ + \ episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │\ + \ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ \ + \ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n\ + \ │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │\ + \ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n\ + \ │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │\ + \ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├──\ + \ episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │\ + \ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ \ + \ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n\ + \ │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n \ + \ │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n\ + \ │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n \ + \ │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├──\ + \ episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ + \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n \ + \ ├── episode_003004.mp4\n └── (...)" + structure: "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n\ + │ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │\ + \ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └──\ + \ (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n\ + │ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │\ + \ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ \ + \ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├──\ + \ episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │\ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n\ + \ │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │\ + \ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n\ + \ │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │\ + \ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├──\ + \ episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │\ + \ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ \ + \ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n\ + \ │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │\ + \ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n\ + \ │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │\ + \ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├──\ + \ episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │\ + \ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ \ + \ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n \ + \ ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n\ + \ │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n \ + \ │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n\ + \ │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n \ + \ │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├──\ + \ episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_003000.mp4\n ├── episode_003001.mp4\n \ + \ ├── episode_003002.mp4\n ├── episode_003003.mp4\n \ + \ ├── episode_003004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/Cobot_Magic_mobile_cube.yaml b/dataset_info/Cobot_Magic_mobile_cube.yaml index 1c4be839cad5f410b2174756a4fa2888a32a9ebc..d4c530f167a67595d56974f29e2c7049b566df25 100644 --- a/dataset_info/Cobot_Magic_mobile_cube.yaml +++ b/dataset_info/Cobot_Magic_mobile_cube.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_mobile_cube +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_cube -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,29 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-21487 -dataset_size: 347.9MB -statistics: - total_episodes: 99 - total_frames: 21487 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Pick up the small cube - Place the small cube on the ahead of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -52,7 +82,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 99 + total_frames: 21487 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 21487 +dataset_size: 347.9MB +data_structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -61,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -85,38 +153,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_mobile_cube + dataset_name: mobile_cube + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-21487 + dataset_size: 347.9MB + statistics: *id002 + dataset_uuid: ec621804-bf42-4f9d-971a-bbe5cb197144 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Pick up the small cube + - Place the small cube on the ahead of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml index b9b87336f7f44c9fdbc8b001e729b203c8f7226e..2f5cda0f09a80237ff8ca881d9cd61402fdf7016 100644 --- a/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml +++ b/dataset_info/Cobot_Magic_mobile_cube_blackboard.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_mobile_cube_blackboard +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: mobile_cube_blackboard -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the block at the correct position to assemble the letter S -objects: +dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-191398 -dataset_size: 3.4GB -statistics: - total_episodes: 100 - total_frames: 191398 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the block at the correct position to assemble the letter S sub_tasks: - Place the block at the correct position to assemble the letter S - out of view - End - Pick up the block on the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 191398 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 191398 +dataset_size: 3.4GB +data_structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,40 +154,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_mobile_cube_blackboard + dataset_name: mobile_cube_blackboard + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the block at the correct position to assemble the letter S + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-191398 + dataset_size: 3.4GB + statistics: *id002 + dataset_uuid: 679f07f9-efb6-4a77-9347-2423da9981cd + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the block at the correct position to assemble the letter S + - out of view + - End + - Pick up the block on the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_move_beverage.yaml b/dataset_info/Cobot_Magic_move_beverage.yaml index 44dcbdead2952ce80f69f3a7016ad4668870bff6..023ce873e964765d704062339f2400c7ef1a15a2 100644 --- a/dataset_info/Cobot_Magic_move_beverage.yaml +++ b/dataset_info/Cobot_Magic_move_beverage.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_beverage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_beverage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-31813 -dataset_size: 636.5MB -statistics: - total_episodes: 100 - total_frames: 31813 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the beverage bottle placed at the back of the desk @@ -58,7 +65,30 @@ sub_tasks: - Pick up the drink - Place the beverage bottle to the front of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 31813 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 31813 +dataset_size: 636.5MB +data_structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,39 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_beverage + dataset_name: move_beverage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-31813 + dataset_size: 636.5MB + statistics: *id002 + dataset_uuid: b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the beverage bottle placed at the back of the desk + - Place the drink at the front of the table + - Pick up the drink + - Place the beverage bottle to the front of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_plate.yaml b/dataset_info/Cobot_Magic_move_plate.yaml index 47f8d6ac623408b94fad81c1f802f5823f424811..599887162cf588bc870544750d86dc91d26f79c8 100644 --- a/dataset_info/Cobot_Magic_move_plate.yaml +++ b/dataset_info/Cobot_Magic_move_plate.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_plate +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_plate -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick the container that can hold fruits -objects: +dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25309 -dataset_size: 459.9MB -statistics: - total_episodes: 99 - total_frames: 25309 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick the container that can hold fruits sub_tasks: - Pick the container that can hold fruits - Move the picked object to the right side of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 99 + total_frames: 25309 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 25309 +dataset_size: 459.9MB +data_structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,38 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_plate + dataset_name: move_plate + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick the container that can hold fruits + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25309 + dataset_size: 459.9MB + statistics: *id002 + dataset_uuid: c3ec4fbc-a32e-4246-896d-c962d096e53c + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick the container that can hold fruits + - Move the picked object to the right side of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_ball.yaml b/dataset_info/Cobot_Magic_move_the_ball.yaml index cfe12d1b41fb3621e01c320a122b2b46e68b8f7f..a49ac76fab97d1f97cc500261faf9fc068937ca3 100644 --- a/dataset_info/Cobot_Magic_move_the_ball.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_ball +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_ball -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Put the picked-up object on the table. -objects: +dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-58184 -dataset_size: 984.3MB -statistics: - total_episodes: 100 - total_frames: 58184 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the picked-up object on the table. sub_tasks: - Put the picked-up object on the table. - Grab the rolling spherical object. - Grab the spherical object with your left arm. - Place the sphere on the white object. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 58184 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 58184 +dataset_size: 984.3MB +data_structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,39 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_ball + dataset_name: move_the_ball + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Put the picked-up object on the table. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-58184 + dataset_size: 984.3MB + statistics: *id002 + dataset_uuid: 371a2f88-8a95-4044-ba5d-4c287fd9b679 + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the picked-up object on the table. + - Grab the rolling spherical object. + - Grab the spherical object with your left arm. + - Place the sphere on the white object. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml index d7a81928c77f7cf9cf78e54578435ef6cca8ce38..83c8e5bdc8c624c99d9ecc5aee1ec459a5477fcd 100644 --- a/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball_and_the_cube_block.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_ball_and_the_cube_block +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_ball_and_the_cube_block -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the sphere on the table -objects: +dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-23991 -dataset_size: 451.4MB -statistics: - total_episodes: 98 - total_frames: 23991 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the sphere on the table sub_tasks: - Grasp the sphere on the table - Place the ball into the sphere recess @@ -55,7 +62,30 @@ sub_tasks: - Place the sphere into the sphere-shaped recess - Pick up the sphere recess - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 98 + total_frames: 23991 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 23991 +dataset_size: 451.4MB +data_structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_ball_and_the_cube_block + dataset_name: move_the_ball_and_the_cube_block + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the sphere on the table + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-23991 + dataset_size: 451.4MB + statistics: *id002 + dataset_uuid: 7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the sphere on the table + - Place the ball into the sphere recess + - End + - Place the ball on the table + - Pick up the ball + - Place the sphere recess in the center of the table + - Place the sphere into the sphere-shaped recess + - Pick up the sphere recess + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_ball_interference.yaml b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml index 65eb3ffa0589e13da675334f4466521e8b78a2e3..f905fa64f1f11411c87a1effb882752ddba789ab 100644 --- a/dataset_info/Cobot_Magic_move_the_ball_interference.yaml +++ b/dataset_info/Cobot_Magic_move_the_ball_interference.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_ball_interference +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_ball_interference -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the spherical object on the right side -objects: +dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25598 -dataset_size: 440.3MB -statistics: - total_episodes: 100 - total_frames: 25598 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the spherical object on the right side sub_tasks: - Grasp the spherical object on the right side - Place the picked object on the left side of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 25598 +dataset_size: 440.3MB +data_structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,40 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_ball_interference + dataset_name: move_the_ball_interference + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the spherical object on the right side + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25598 + dataset_size: 440.3MB + statistics: *id002 + dataset_uuid: 45746c8e-f6f6-4670-858c-5a53ac7dbacb + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the spherical object on the right side + - Place the picked object on the left side of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_ball_interference_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_bread.yaml b/dataset_info/Cobot_Magic_move_the_bread.yaml index a6a9f332d159e5fe76062395e88d79256192fbfa..9f547d72b0aff07ea0fb77fb7643901371b147bc 100644 --- a/dataset_info/Cobot_Magic_move_the_bread.yaml +++ b/dataset_info/Cobot_Magic_move_the_bread.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick the yellow bread on the yellow plate -objects: +dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-57401 -dataset_size: 981.4MB -statistics: - total_episodes: 99 - total_frames: 57401 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick the yellow bread on the yellow plate sub_tasks: - Pick the yellow bread on the yellow plate - Place the yellow bread on the table - Place the picked object on the yellow plate - Grasp the yellow bread on the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 99 + total_frames: 57401 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 57401 +dataset_size: 981.4MB +data_structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,39 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_bread + dataset_name: move_the_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick the yellow bread on the yellow plate + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-57401 + dataset_size: 981.4MB + statistics: *id002 + dataset_uuid: 0279dfc1-8833-47b1-b5de-c7b01c3aef4c + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick the yellow bread on the yellow plate + - Place the yellow bread on the table + - Place the picked object on the yellow plate + - Grasp the yellow bread on the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_cup.yaml b/dataset_info/Cobot_Magic_move_the_cup.yaml index bd99f933085a4966180ffa71d8f2abcad7853433..2bae2c8af1fc7729bdfa072bb81dba78304c4013 100644 --- a/dataset_info/Cobot_Magic_move_the_cup.yaml +++ b/dataset_info/Cobot_Magic_move_the_cup.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_cup +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_cup -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the transparent glass cup -objects: +dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-28338 -dataset_size: 1.1GB -statistics: - total_episodes: 100 - total_frames: 28338 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the transparent glass cup sub_tasks: - Grasp the transparent glass cup - Place the glass cup on the blue zone - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 28338 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 28338 +dataset_size: 1.1GB +data_structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,38 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_cup + dataset_name: move_the_cup + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the transparent glass cup + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-28338 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: 503e7d0b-c281-4ea6-98ff-ebe74764c6ad + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the transparent glass cup + - Place the glass cup on the blue zone + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_plate.yaml b/dataset_info/Cobot_Magic_move_the_plate.yaml index 604e716fd28ba04bb7430378645fd26ce937626f..2c20750f65b90aad6090536a344455805e7d3fe4 100644 --- a/dataset_info/Cobot_Magic_move_the_plate.yaml +++ b/dataset_info/Cobot_Magic_move_the_plate.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_plate +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_plate -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick the container that can hold fruits -objects: +dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25057 -dataset_size: 418.0MB -statistics: - total_episodes: 98 - total_frames: 25057 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick the container that can hold fruits sub_tasks: - Pick the container that can hold fruits - Move the picked object to the right side of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 98 + total_frames: 25057 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 25057 +dataset_size: 418.0MB +data_structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,39 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_plate + dataset_name: move_the_plate + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick the container that can hold fruits + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25057 + dataset_size: 418.0MB + statistics: *id002 + dataset_uuid: 8d39690e-e415-4f1c-9e39-2c0a83b6fe12 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick the container that can hold fruits + - Move the picked object to the right side of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_move_the_small_ball.yaml b/dataset_info/Cobot_Magic_move_the_small_ball.yaml index 70de92a706be4205666d7e0d779f69079b05e2f7..ad9f0835e3b76388d32d3508314048b52f249cc0 100644 --- a/dataset_info/Cobot_Magic_move_the_small_ball.yaml +++ b/dataset_info/Cobot_Magic_move_the_small_ball.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_move_the_small_ball +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_small_ball -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the spherical object on the right side -objects: +dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25598 -dataset_size: 404.6MB -statistics: - total_episodes: 100 - total_frames: 25598 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the spherical object on the right side sub_tasks: - Grasp the spherical object on the right side - Place the picked object on the left side of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 25598 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 25598 +dataset_size: 404.6MB +data_structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_move_the_small_ball + dataset_name: move_the_small_ball + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the spherical object on the right side + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25598 + dataset_size: 404.6MB + statistics: *id002 + dataset_uuid: d3bee16b-97e7-4e2b-ae25-346189946b81 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the spherical object on the right side + - Place the picked object on the left side of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml index 7897911ca2f914a14cd3fd19e15b629f4c9e87ff..574ff806ce122eac80e55687f795433c2ea3b510 100644 --- a/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml +++ b/dataset_info/Cobot_Magic_movethe_position_of_the_bluetooth.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_movethe_position_of_the_bluetooth +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: movethe_position_of_the_bluetooth -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place bluetooth earbud on the right side of the table -objects: +dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-52508 -dataset_size: 850.5MB -statistics: - total_episodes: 198 - total_frames: 52508 - total_tasks: 2 - total_videos: 594 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place bluetooth earbud on the right side of the table sub_tasks: - Place bluetooth earbud on the right side of the table - Place bluetooth earphone case on the left side of the table - Grasp the Bluetooth earphone case - Grasp the Bluetooth earbud - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 198 + total_frames: 52508 + total_tasks: 2 + total_videos: 594 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 52508 +dataset_size: 850.5MB +data_structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,40 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_movethe_position_of_the_bluetooth + dataset_name: movethe_position_of_the_bluetooth + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place bluetooth earbud on the right side of the table + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-52508 + dataset_size: 850.5MB + statistics: *id002 + dataset_uuid: dc390f5c-b242-48d0-86f0-0932b22a8f6a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place bluetooth earbud on the right side of the table + - Place bluetooth earphone case on the left side of the table + - Grasp the Bluetooth earphone case + - Grasp the Bluetooth earbud + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_open_the_shoebox.yaml b/dataset_info/Cobot_Magic_open_the_shoebox.yaml index 40517e09a20b7c100ea7c3dc06ae8079709e6f54..9941c2695933168ae370dfec53a5d7f3a076418b 100644 --- a/dataset_info/Cobot_Magic_open_the_shoebox.yaml +++ b/dataset_info/Cobot_Magic_open_the_shoebox.yaml @@ -1,14 +1,35 @@ -path: Cobot_Magic_open_the_shoebox +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_the_shoebox -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pull -tasks: Open the shoe box -objects: +dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,27 +42,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-185740 -dataset_size: 2.8GB -statistics: - total_episodes: 299 - total_frames: 185740 - total_tasks: 3 - total_videos: 897 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Open the shoe box sub_tasks: - Open the shoe box - 'null' -annotations: +atomic_actions: +- grasp +- pull +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -49,7 +79,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 299 + total_frames: 185740 + total_tasks: 3 + total_videos: 897 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 185740 +dataset_size: 2.8GB +data_structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -58,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -82,40 +150,110 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_open_the_shoebox + dataset_name: open_the_shoebox + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pull + tasks: Open the shoe box + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-185740 + dataset_size: 2.8GB + statistics: *id002 + dataset_uuid: 1708df8d-97e4-42b0-a8ee-de1bb93b4d77 + language: *id003 + task_categories: *id004 + sub_tasks: + - Open the shoe box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_place_square_pyramid.yaml b/dataset_info/Cobot_Magic_place_square_pyramid.yaml index 1263f20adbf31ee1c16384466406844db16ba7b3..5b40fb35bd3546f321d504ea73225dbad24b41d2 100644 --- a/dataset_info/Cobot_Magic_place_square_pyramid.yaml +++ b/dataset_info/Cobot_Magic_place_square_pyramid.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_place_square_pyramid +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_square_pyramid -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the block onto the cube-shaped block -objects: +dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-25851 -dataset_size: 521.2MB -statistics: - total_episodes: 99 - total_frames: 25851 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the block onto the cube-shaped block sub_tasks: - Place the block onto the cube-shaped block - Place the triangular block onto the cube block - End - Grasp the triangular block - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 99 + total_frames: 25851 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 25851 +dataset_size: 521.2MB +data_structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,40 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_place_square_pyramid + dataset_name: place_square_pyramid + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the block onto the cube-shaped block + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-25851 + dataset_size: 521.2MB + statistics: *id002 + dataset_uuid: 53a89b6b-14be-4a0e-8495-f3310b2ba5bd + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the block onto the cube-shaped block + - Place the triangular block onto the cube block + - End + - Grasp the triangular block + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_place_the_cube_block.yaml b/dataset_info/Cobot_Magic_place_the_cube_block.yaml index 2d2bdd5fc0d0f9ec9104e3d485b8416de97c87ce..4154c2ecca45ece00a64e8156062a4075413fcb3 100644 --- a/dataset_info/Cobot_Magic_place_the_cube_block.yaml +++ b/dataset_info/Cobot_Magic_place_the_cube_block.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_place_the_cube_block +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_cube_block -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place it into the yellow plate -objects: +dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12763 -dataset_size: 222.1MB -statistics: - total_episodes: 58 - total_frames: 12763 - total_tasks: 1 - total_videos: 174 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place it into the yellow plate sub_tasks: - Place it into the yellow plate - Grasp the small cube on the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 58 + total_frames: 12763 + total_tasks: 1 + total_videos: 174 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12763 +dataset_size: 222.1MB +data_structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,40 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_place_the_cube_block + dataset_name: place_the_cube_block + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place it into the yellow plate + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12763 + dataset_size: 222.1MB + statistics: *id002 + dataset_uuid: 8f5ebbc9-2983-4035-a6cd-395dcace072d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place it into the yellow plate + - Grasp the small cube on the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_place_the_test_tube.yaml b/dataset_info/Cobot_Magic_place_the_test_tube.yaml index d15befb3e0ca1da29d831ceefb6072abf8c6fad7..8802bc68a7718a2c5f3d5d44673952c3f56040f5 100644 --- a/dataset_info/Cobot_Magic_place_the_test_tube.yaml +++ b/dataset_info/Cobot_Magic_place_the_test_tube.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_place_the_test_tube +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_test_tube -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the test tubes on the test tube rack with the right gripper -objects: +dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-308346 -dataset_size: 6.0GB -statistics: - total_episodes: 364 - total_frames: 308346 - total_tasks: 6 - total_videos: 1092 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the test tubes on the test tube rack with the right gripper sub_tasks: - Place the test tubes on the test tube rack with the right gripper - Lift the test tube with the left hand. @@ -66,7 +73,30 @@ sub_tasks: 5th column from the left with the right hand. - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -74,7 +104,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 364 + total_frames: 308346 + total_tasks: 6 + total_videos: 1092 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 308346 +dataset_size: 6.0GB +data_structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -83,13 +148,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -107,40 +175,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_place_the_test_tube + dataset_name: place_the_test_tube + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the test tubes on the test tube rack with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-308346 + dataset_size: 6.0GB + statistics: *id002 + dataset_uuid: 070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the test tubes on the test tube rack with the right gripper + - Lift the test tube with the left hand. + - End + - Pass the test tube from the left gripper to the right gripper + - Pick up the test tubes from the table + - Place the test tubes on the rack + - Hand over the test tubes + - Grab the test tube with the left hand. + - Receive the test tube with the right hand. + - Pick up the test tube with the left gripper + - Insert it into the hole at the intersection of the 5th row from the top and the + 5th column from the left with the right hand. + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_plate_storage_apple.yaml b/dataset_info/Cobot_Magic_plate_storage_apple.yaml index c7eeef999351ad7b406f129fa7dcc7ed0f1fb264..7d0e45e96feae10ffb9af6524829c9e61e8a4257 100644 --- a/dataset_info/Cobot_Magic_plate_storage_apple.yaml +++ b/dataset_info/Cobot_Magic_plate_storage_apple.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_plate_storage_apple +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage_apple -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the fruit that can keep the doctor away -objects: +dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-30676 -dataset_size: 605.5MB -statistics: - total_episodes: 103 - total_frames: 30676 - total_tasks: 1 - total_videos: 309 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the fruit that can keep the doctor away sub_tasks: - Grasp the fruit that can keep the doctor away - Place the picked object into the yellow plate - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 103 + total_frames: 30676 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 30676 +dataset_size: 605.5MB +data_structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,40 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_plate_storage_apple + dataset_name: plate_storage_apple + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the fruit that can keep the doctor away + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-30676 + dataset_size: 605.5MB + statistics: *id002 + dataset_uuid: 4c90a2cc-aea8-4468-a7c2-b0afeae50a98 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the fruit that can keep the doctor away + - Place the picked object into the yellow plate + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_plate_storage_bread.yaml b/dataset_info/Cobot_Magic_plate_storage_bread.yaml index e316a974cae3f78f2341588d38a7ebf2435d9965..968af8dbb14d210a1095820bf2fa2ab4e3e533a1 100644 --- a/dataset_info/Cobot_Magic_plate_storage_bread.yaml +++ b/dataset_info/Cobot_Magic_plate_storage_bread.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_plate_storage_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the yellow bread -objects: +dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-27875 -dataset_size: 515.0MB -statistics: - total_episodes: 100 - total_frames: 27875 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the yellow bread sub_tasks: - Grasp the yellow bread - Place the bread into the yellow plate - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 27875 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 27875 +dataset_size: 515.0MB +data_structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,40 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_plate_storage_bread + dataset_name: plate_storage_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the yellow bread + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-27875 + dataset_size: 515.0MB + statistics: *id002 + dataset_uuid: f4001f44-f88b-4812-a364-a7f937d58496 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the yellow bread + - Place the bread into the yellow plate + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml index d334bb94bc643867a224b39ae29c77f4445f3162..6f713c07101165463c501010dde7890ad72f2d45 100644 --- a/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml +++ b/dataset_info/Cobot_Magic_plate_storaje_baozi.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_plate_storaje_baozi +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storaje_baozi -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the baozi on the steamer with left gripper -objects: +dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-261093 -dataset_size: 12.3GB -statistics: - total_episodes: 495 - total_frames: 261093 - total_tasks: 6 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the baozi on the steamer with left gripper sub_tasks: - Grasp the baozi on the steamer with left gripper - Abnormal @@ -69,7 +76,30 @@ sub_tasks: - Grasp the yellow baozi on the steamer with right gripper - Place the dumpling on the steamer with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -77,7 +107,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 495 + total_frames: 261093 + total_tasks: 6 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 261093 +dataset_size: 12.3GB +data_structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -86,13 +151,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -110,40 +178,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_plate_storaje_baozi + dataset_name: plate_storaje_baozi + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the baozi on the steamer with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-261093 + dataset_size: 12.3GB + statistics: *id002 + dataset_uuid: 749fc774-003a-487c-948b-b6fc7ad307e1 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the baozi on the steamer with left gripper + - Abnormal + - Place the yellow baozi on the plate with left gripper + - Place the yellow baozi on the plate with right gripper + - End + - Grasp the dumpling with left gripper + - use the left arm to grab the steamed stuffed bun that is closest to it + - use the right arm to grab the steamed stuffed bun that is closest to it + - use the right arm to put the steamed stuffed bun into the plate + - Place the baozi on the plate with left gripper + - Grasp the yellow baozi on the steamer with left gripper + - use the left arm to put the steamed stuffed bun into the plate + - Place the dumpling on the steamer with right gripper + - Grasp the dumpling with right gripper + - Grasp the yellow baozi on the steamer with right gripper + - Place the dumpling on the steamer with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_pot_storage_steamer.yaml b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml index 3fc29f87dafb76753988ddf165abf898df88b309..0e98c4d2f1ab8e2919cdff4372a290a6220049da 100644 --- a/dataset_info/Cobot_Magic_pot_storage_steamer.yaml +++ b/dataset_info/Cobot_Magic_pot_storage_steamer.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_pot_storage_steamer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pot_storage_steamer -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: use the left arm to place the steamer lid on the steamer -objects: +dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-478978 -dataset_size: 19.7GB -statistics: - total_episodes: 590 - total_frames: 478978 - total_tasks: 6 - total_videos: 1770 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to place the steamer lid on the steamer sub_tasks: - use the left arm to place the steamer lid on the steamer - use the right arm to lift the steamer closest to it @@ -67,7 +74,30 @@ sub_tasks: - use the right arm to put the steamer into the iron steamer pot in the middle - use the left arm to lift the steamer closest to it - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 590 + total_frames: 478978 + total_tasks: 6 + total_videos: 1770 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 478978 +dataset_size: 19.7GB +data_structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +149,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,40 +176,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pot_storage_steamer + dataset_name: pot_storage_steamer + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: use the left arm to place the steamer lid on the steamer + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-478978 + dataset_size: 19.7GB + statistics: *id002 + dataset_uuid: 0416c89e-0f94-4be0-858c-9a8f3a1ed758 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to place the steamer lid on the steamer + - use the right arm to lift the steamer closest to it + - use the left arm to put the steamer into the iron steamer pot in the middle + - use the right arm to lift the lid of the steamer + - use the right arm to place the steamer lid on the steamer + - use the left arm to lift the lid of the steamer + - use the right arm to put the steamer into the iron steamer pot in the middle + - use the left arm to lift the steamer closest to it + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_pot_storage_steamer_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_pour_drink.yaml b/dataset_info/Cobot_Magic_pour_drink.yaml index 5ac6a37d05d876cb24dbdda10ee23aa88ec6cab7..6ee7d2d1d309b5bf4f70e88bedb9f5174d25703e 100644 --- a/dataset_info/Cobot_Magic_pour_drink.yaml +++ b/dataset_info/Cobot_Magic_pour_drink.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_pour_drink +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_drink -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pour -tasks: Grasp the black cup with left gripper -objects: +dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -89,23 +108,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-862292 -dataset_size: 12.6GB -statistics: - total_episodes: 1613 - total_frames: 862292 - total_tasks: 61 - total_videos: 4839 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the black cup with left gripper sub_tasks: - Grasp the black cup with left gripper - Grasp the white cup with right gripper @@ -164,7 +170,31 @@ sub_tasks: - Pour the coffee from bottle to cup with right gripper - Lift the grey cup with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -172,7 +202,53 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1613 + total_frames: 862292 + total_tasks: 61 + total_videos: 4839 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 862292 +dataset_size: 12.6GB +data_structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -181,13 +257,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -205,62 +284,191 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pour_drink + dataset_name: pour_drink + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pour + tasks: Grasp the black cup with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-862292 + dataset_size: 12.6GB + statistics: *id002 + dataset_uuid: 9b6b4d09-0c15-4d1f-b8f9-12be94c871cd + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the black cup with left gripper + - Grasp the white cup with right gripper + - Static + - Place the orange juice bottle on the table with left gripper + - Lift the black cup with left gripper + - Place the water bottle on the table with right gripper + - Place the grey cup on the table with left gripper + - End + - Place the sprite bottle on the table with right gripper + - Lift the red cup with left gripper + - Place the cola bottle on the table with left gripper + - Grasp the bottle with cola with right gripper + - Grasp the bottle with sprite with left gripper + - Pour the water from bottle to cup with right gripper + - Place the coffee bottle on the table with right gripper + - Grasp the bottle with orange juice with left gripper + - Pour the red wine from bottle to cup with left gripper + - Place the black cup in the center of view with right gripper + - Place the transparent cup on the table with right gripper + - Place the white cup on the table with right gripper + - Grasp the bottle filled water with right gripper + - Grasp the bottle with coffee with right gripper + - Place the yellow paper cup on the table with left gripper + - Pour the yuexian Milk from bottle to cup with right gripper + - Grasp the bottle with red wine with left gripper + - Grasp the black cup with right gripper + - Place the white cup on the table with left gripper + - Grasp the yellow paper cup with right gripper + - Grasp the yellow paper cup with left gripper + - Pour the orange juice from bottle to cup with left gripper + - Grasp the bottle with water with right gripper + - Pour the yogurt from bottle to cup with left gripper + - Grasp the bottle with yuexian Milk with right gripper + - Place the yellow paper cup on the table with right gripper + - Pour the cola from bottle to cup with right gripper + - Abnormal + - Grasp the white cup with left gripper + - Pour the sprite from bottle to cup with left gripper + - Lift the grey cup with left gripper + - Place the black cup on the table with left gripper + - Grasp the red cup with left gripper + - Place the red cup on the table with left gripper + - Lift the yellow paper cup with right gripper + - Grasp the grey cup with left gripper + - Place the yuexian Milk bottle on the table with right gripper + - Lift the yellow paper cup with left gripper + - Place the sprite bottle on the table with left gripper + - Lift the white cup with left gripper + - Place the cola bottle on the table with right gripper + - Pour the sprite from bottle to cup with right gripper + - Place the red wine bottle on the table with left gripper + - Lift the white cup with right gripper + - Grasp the transparent cup with right gripper + - Grasp the bottle with sprite with right gripper + - Pour the coffee from bottle to cup with right gripper + - Lift the grey cup with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_pour_water_a.yaml b/dataset_info/Cobot_Magic_pour_water_a.yaml index 7d82e193c7e9ff372993d0dcf97bb271f121d37f..ff75673d58267840e7f3f317a4d265fc73231bb4 100644 --- a/dataset_info/Cobot_Magic_pour_water_a.yaml +++ b/dataset_info/Cobot_Magic_pour_water_a.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_pour_water_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_water_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grab the paper cup on the right. -objects: +dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-1302424 -dataset_size: 13.8GB -statistics: - total_episodes: 896 - total_frames: 1302424 - total_tasks: 8 - total_videos: 2688 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab the paper cup on the right. sub_tasks: - Grab the paper cup on the right. - Lift the paper cup on the right. @@ -106,7 +113,30 @@ sub_tasks: - Place the paper cup on the left. - Place the water bottle on the left. - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -114,7 +144,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 896 + total_frames: 1302424 + total_tasks: 8 + total_videos: 2688 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 1302424 +dataset_size: 13.8GB +data_structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -123,13 +188,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -147,38 +215,151 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pour_water_a + dataset_name: pour_water_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grab the paper cup on the right. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-1302424 + dataset_size: 13.8GB + statistics: *id002 + dataset_uuid: 1cf008f5-6677-4b28-8eae-d7a325544806 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab the paper cup on the right. + - Lift the paper cup on the right. + - Pick up the bottle + - Grab the bottle with right gripper + - Grab the water bottle on the right. + - Pour water from bottle to cup with the right gripper + - Abnormal + - Place the paper cup with the left gripper + - Lift the paper cup on the left. + - Place the bottle + - Put the cup down with left gripper + - Grasp the cup with left gripper + - Grasp the bottle with the left gripper + - Pour water from bottle to cup with the left gripper + - Take the water with left gripper + - End + - Receive water on the left. + - Pick up the cup + - Discard. + - Collect water on the right. + - Pour the water with right gripper + - Pour water from bottle to cup + - Grab the water bottle on the left. + - Put the bottle down with right gripper + - Place the water bottle on the right. + - Pour water on the left. + - Grab the paper cup on the left. + - Place the bottle with the left gripper + - Place the paper cup with the right gripper + - Place the bottle with the right gripper + - Place the paper cup on the right. + - Receive water on the right. + - Lift the cup with left gripper + - Grasp the paper cup with the right gripper + - Grasp the bottle with the right gripper + - Grasp the paper cup with the left gripper + - Pour water on the right. + - Collect water on the left. + - Place the cup + - Place the paper cup on the left. + - Place the water bottle on the left. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/Cobot_Magic_pour_water_bottle.yaml b/dataset_info/Cobot_Magic_pour_water_bottle.yaml index c59b7cf141720059e6f5c05fb7ac173fb97b6d42..6d7628b03c16546af8953dae70d4be88b6aa9c82 100644 --- a/dataset_info/Cobot_Magic_pour_water_bottle.yaml +++ b/dataset_info/Cobot_Magic_pour_water_bottle.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_pour_water_bottle +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_water_bottle -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- pour -- place -tasks: End -objects: +dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-43905 -dataset_size: 1.1GB -statistics: - total_episodes: 92 - total_frames: 43905 - total_tasks: 1 - total_videos: 276 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the mineral water bottle @@ -62,7 +68,31 @@ sub_tasks: - Place the water bottle - Pick up the water bottle - 'null' -annotations: +atomic_actions: +- grasp +- pick +- pour +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 92 + total_frames: 43905 + total_tasks: 1 + total_videos: 276 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 43905 +dataset_size: 1.1GB +data_structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,40 +171,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pour_water_bottle + dataset_name: pour_water_bottle + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - pour + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-43905 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: e375b064-04ad-4cb8-a8d4-d0994c11fa75 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the mineral water bottle + - Pour water into the cup + - Anomaly + - Abnormal + - Pour water into the teacup + - Place the water bottle + - Pick up the water bottle + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_prepare_breakfast.yaml b/dataset_info/Cobot_Magic_prepare_breakfast.yaml index c50cf1b3c6a26495d9bea26b01f3faed37f1b6af..770312576ba3115d5ded26c4566d9477d82f39b2 100644 --- a/dataset_info/Cobot_Magic_prepare_breakfast.yaml +++ b/dataset_info/Cobot_Magic_prepare_breakfast.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_prepare_breakfast +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: prepare_breakfast -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the apple on the plate with left gripper -objects: +dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -52,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-125115 -dataset_size: 1.5GB -statistics: - total_episodes: 565 - total_frames: 125115 - total_tasks: 5 - total_videos: 1695 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the apple on the plate with left gripper sub_tasks: - Place the apple on the plate with left gripper - Place the round bread on the plate with left gripper @@ -96,7 +103,30 @@ sub_tasks: - Abnormal - Grasp the apple with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -104,7 +134,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 565 + total_frames: 125115 + total_tasks: 5 + total_videos: 1695 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 125115 +dataset_size: 1.5GB +data_structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -113,13 +178,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -137,40 +205,135 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_prepare_breakfast + dataset_name: prepare_breakfast + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the apple on the plate with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-125115 + dataset_size: 1.5GB + statistics: *id002 + dataset_uuid: fd0e715a-40a9-41a6-b734-b517862e255e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the apple on the plate with left gripper + - Place the round bread on the plate with left gripper + - Grasp the egg with left gripper + - Place the egg on the plate with left gripper + - Place the cola on the table with right gripper + - Grasp the apple with left gripper + - Grasp the round bread with right gripper + - Grasp the milk with left gripper + - Place the milk on the table with right gripper + - Place the apple on the plate with right gripper + - Place the milk on the table with left gripper + - Place the cola on the plate with right gripper + - Grasp the cola with right gripper + - Grasp the egg with right gripper + - Grasp the cola with left gripper + - Place the apple on the table with left gripper + - Grasp the milk with right gripper + - Place the cola on the table with left gripper + - Static + - End + - Place the round bread on the plate with right gripper + - Grasp the round bread with left gripper + - Place the egg on the plate with right gripper + - Abnormal + - Grasp the apple with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_prepare_breakfast_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_pull_zipper.yaml b/dataset_info/Cobot_Magic_pull_zipper.yaml index d013ae1657f7c4d9fcd94f6cd58d083fdb7761ec..8ce9ec294b21ba4e2c13fd6e38313b3e744782af 100644 --- a/dataset_info/Cobot_Magic_pull_zipper.yaml +++ b/dataset_info/Cobot_Magic_pull_zipper.yaml @@ -1,14 +1,35 @@ -path: Cobot_Magic_pull_zipper +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pull_zipper -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pull -tasks: Pull the zipper with right gripper -objects: +dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-836317 -dataset_size: 11.0GB -statistics: - total_episodes: 1868 - total_frames: 836317 - total_tasks: 6 - total_videos: 5604 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pull the zipper with right gripper sub_tasks: - Pull the zipper with right gripper - Pull open the zipper with your left hand. @@ -53,7 +61,29 @@ sub_tasks: - Pull open the zipper with your right hand. - Hold the bag with your left hand. - 'null' -annotations: +atomic_actions: +- grasp +- pull +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,53 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1868 + total_frames: 836317 + total_tasks: 6 + total_videos: 5604 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 836317 +dataset_size: 11.0GB +data_structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,62 +173,147 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pull_zipper + dataset_name: pull_zipper + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pull + tasks: Pull the zipper with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-836317 + dataset_size: 11.0GB + statistics: *id002 + dataset_uuid: 3ede76ea-63fb-4de1-a796-a3809b4e09fa + language: *id003 + task_categories: *id004 + sub_tasks: + - Pull the zipper with right gripper + - Pull open the zipper with your left hand. + - Grasp the bag with left gripper + - Hold the bag with your right hand. + - End + - Zip up the bag with your left hand. + - Zip up the bag with your right hand. + - Grasp the bag with right gripper + - Pull the zipper with left gripper + - Grab the zipper with your left hand. + - Discard. + - Pull open the zipper with your right hand. + - Hold the bag with your left hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_pushing_magnet.yaml b/dataset_info/Cobot_Magic_pushing_magnet.yaml index b07f279a3d458e3c2b04c779465d06b533eb0c88..6344d648ddd423413e298493b6661e07d48c2835 100644 --- a/dataset_info/Cobot_Magic_pushing_magnet.yaml +++ b/dataset_info/Cobot_Magic_pushing_magnet.yaml @@ -1,13 +1,35 @@ -path: Cobot_Magic_pushing_magnet +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pushing_magnet -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- push -tasks: End -objects: +dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -20,28 +42,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-23553 -dataset_size: 423.5MB -statistics: - total_episodes: 100 - total_frames: 23553 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Push the magnet on the right to connect the magnet on the left - 'null' -annotations: +atomic_actions: +- push +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -49,7 +79,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 23553 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 23553 +dataset_size: 423.5MB +data_structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -58,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -82,39 +150,110 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_pushing_magnet + dataset_name: pushing_magnet + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - push + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-23553 + dataset_size: 423.5MB + statistics: *id002 + dataset_uuid: ad07d99e-6bee-4147-b81a-8f2dfe943ed8 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Push the magnet on the right to connect the magnet on the left + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_put_in_the_pear.yaml b/dataset_info/Cobot_Magic_put_in_the_pear.yaml index bcb8eac2827ef48df5b20cd8abb44b647ede680f..beb74eb3a719dcb98c535da1bf2ea89827cf25e3 100644 --- a/dataset_info/Cobot_Magic_put_in_the_pear.yaml +++ b/dataset_info/Cobot_Magic_put_in_the_pear.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_put_in_the_pear +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_in_the_pear -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the high-fiber fruit -objects: +dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,29 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-21690 -dataset_size: 461.5MB -statistics: - total_episodes: 97 - total_frames: 21690 - total_tasks: 1 - total_videos: 291 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the high-fiber fruit sub_tasks: - Grasp the high-fiber fruit - abnormal - Place it on the right side of the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -52,7 +82,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 97 + total_frames: 21690 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 21690 +dataset_size: 461.5MB +data_structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -61,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -85,40 +153,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_put_in_the_pear + dataset_name: put_in_the_pear + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the high-fiber fruit + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-21690 + dataset_size: 461.5MB + statistics: *id002 + dataset_uuid: 9ef9a074-b4b1-4d16-a577-460381b81a91 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the high-fiber fruit + - abnormal + - Place it on the right side of the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml index ccfb0eea2abdc3eccff6180145fb815bcfaf0f9f..ce01e44d2ff3baaa5c61cec6531643871585e7c6 100644 --- a/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml +++ b/dataset_info/Cobot_Magic_put_the_building_block_on_the_table.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_put_the_building_block_on_the_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_building_block_on_the_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- rotate -tasks: Grasp the rotating cube-shaped block on the turntable -objects: +dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,29 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-19816 -dataset_size: 400.2MB -statistics: - total_episodes: 98 - total_frames: 19816 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the rotating cube-shaped block on the turntable sub_tasks: - Grasp the rotating cube-shaped block on the turntable - Place the cube on the desk - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- rotate +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 98 + total_frames: 19816 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 19816 +dataset_size: 400.2MB +data_structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,40 +154,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_put_the_building_block_on_the_table + dataset_name: put_the_building_block_on_the_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - rotate + tasks: Grasp the rotating cube-shaped block on the turntable + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-19816 + dataset_size: 400.2MB + statistics: *id002 + dataset_uuid: 04f51db4-3cdd-4327-93ad-41b490a4c52c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the rotating cube-shaped block on the turntable + - Place the cube on the desk + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_put_the_building_block_on_the_table_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml index ee0f77a42a17452f159a66dcde2cf45c7e3e315c..da06079a72b2621d71b8f65149c7adaa4569e0f8 100644 --- a/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml +++ b/dataset_info/Cobot_Magic_steamer_storage_dumpling.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_steamer_storage_dumpling +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_dumpling -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: use the left arm to put the dumpling into the steamer -objects: +dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-417589 -dataset_size: 19.8GB -statistics: - total_episodes: 580 - total_frames: 417589 - total_tasks: 6 - total_videos: 1740 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to put the dumpling into the steamer sub_tasks: - use the left arm to put the dumpling into the steamer - Abnormal @@ -63,7 +70,30 @@ sub_tasks: - use the right arm to grab a dumpling - Place the dumpling on the steamer with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -71,7 +101,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 580 + total_frames: 417589 + total_tasks: 6 + total_videos: 1740 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 417589 +dataset_size: 19.8GB +data_structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -80,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -104,40 +172,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_steamer_storage_dumpling + dataset_name: steamer_storage_dumpling + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: use the left arm to put the dumpling into the steamer + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-417589 + dataset_size: 19.8GB + statistics: *id002 + dataset_uuid: df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to put the dumpling into the steamer + - Abnormal + - use the right arm to put the dumpling into the steamer + - Grasp the dumpling with left gripper + - End + - Place the dumpling on the steamer with right gripper + - use the left arm to grab a dumpling + - Grasp the dumpling with right gripper + - use the right arm to grab a dumpling + - Place the dumpling on the steamer with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_storage_plate.yaml b/dataset_info/Cobot_Magic_storage_plate.yaml index 272034cf3392de7dfddf43170224641d5c32cc04..b49098b8671544a9a5ffc92dc730b878593626ee 100644 --- a/dataset_info/Cobot_Magic_storage_plate.yaml +++ b/dataset_info/Cobot_Magic_storage_plate.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_storage_plate +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_plate -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Left grab the white plate. -objects: +dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-57019 -dataset_size: 903.4MB -statistics: - total_episodes: 84 - total_frames: 57019 - total_tasks: 1 - total_videos: 252 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Left grab the white plate. sub_tasks: - Left grab the white plate. - Left grab the gray plate. @@ -67,7 +74,30 @@ sub_tasks: - Left grab the pink plate. - Left grab the green plate. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 84 + total_frames: 57019 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 57019 +dataset_size: 903.4MB +data_structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +149,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,39 +176,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_storage_plate + dataset_name: storage_plate + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Left grab the white plate. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-57019 + dataset_size: 903.4MB + statistics: *id002 + dataset_uuid: 9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf + language: *id003 + task_categories: *id004 + sub_tasks: + - Left grab the white plate. + - Left grab the gray plate. + - Place the plate on the rack + - Right place it at the front of the shelf. + - Right receive the plate. + - Pick up the plate from the table + - Left lift the plate. + - end + - Left grab the blue plate. + - Left grab the yellow plate. + - Hand over the plate + - Right place it at the back of the shelf. + - Left grab the pink plate. + - Left grab the green plate. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml index 37b92872069344b1a7cdfb70fa86a46160991ef2..12fdc8d8aa46cfc6b168800319c1953da174cbdf 100644 --- a/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml +++ b/dataset_info/Cobot_Magic_take_out_a_pen_from_the_pen_holder.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_take_out_a_pen_from_the_pen_holder +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_out_a_pen_from_the_pen_holder -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the pen on the table with the left gripper -objects: +dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-225692 -dataset_size: 6.5GB -statistics: - total_episodes: 488 - total_frames: 225692 - total_tasks: 5 - total_videos: 1464 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pen on the table with the left gripper sub_tasks: - Place the pen on the table with the left gripper - Abnormal @@ -61,7 +68,30 @@ sub_tasks: - Pick up the pen with the right gripper - Place the pen on the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -69,7 +99,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 488 + total_frames: 225692 + total_tasks: 5 + total_videos: 1464 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 225692 +dataset_size: 6.5GB +data_structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -78,13 +143,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -102,40 +170,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_take_out_a_pen_from_the_pen_holder + dataset_name: take_out_a_pen_from_the_pen_holder + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the pen on the table with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-225692 + dataset_size: 6.5GB + statistics: *id002 + dataset_uuid: 836047ba-9812-4f07-b6bd-1d98e5c01c1d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pen on the table with the left gripper + - Abnormal + - End + - Pick up the pen with the left gripper + - Pick up the pen from the pen holder + - Place the pen on the table with the right gripper + - Pick up the pen with the right gripper + - Place the pen on the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_take_out_the_bread.yaml b/dataset_info/Cobot_Magic_take_out_the_bread.yaml index e2abe93211a628741a83100c36b2c34ba824b8c7..07eeffece27a266c6294e2c5ae38af893fbbd09b 100644 --- a/dataset_info/Cobot_Magic_take_out_the_bread.yaml +++ b/dataset_info/Cobot_Magic_take_out_the_bread.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_take_out_the_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_out_the_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: use the right arm to put a slice of bread into the plate -objects: +dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,30 +60,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-333147 -dataset_size: 15.1GB -statistics: - total_episodes: 588 - total_frames: 333147 - total_tasks: 6 - total_videos: 1764 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the right arm to put a slice of bread into the plate sub_tasks: - use the right arm to put a slice of bread into the plate - use the left arm to put a slice of bread into the empty plate - use the left arm to take out a slice of bread - use the right arm to take out a slice of bread - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -71,7 +101,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 588 + total_frames: 333147 + total_tasks: 6 + total_videos: 1764 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 333147 +dataset_size: 15.1GB +data_structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -80,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -104,40 +172,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_take_out_the_bread + dataset_name: take_out_the_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: use the right arm to put a slice of bread into the plate + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-333147 + dataset_size: 15.1GB + statistics: *id002 + dataset_uuid: 2fb93e01-1b87-444e-8fef-493ab51a3c3f + language: *id003 + task_categories: *id004 + sub_tasks: + - use the right arm to put a slice of bread into the plate + - use the left arm to put a slice of bread into the empty plate + - use the left arm to take out a slice of bread + - use the right arm to take out a slice of bread + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml index f56141b28629a3a153114b03c585a36dce54f2a3..3661aa4cb688404183d2fe5265fd896d5e26bb84 100644 --- a/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml +++ b/dataset_info/Cobot_Magic_take_the_shoes_off_the_shelf.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_take_the_shoes_off_the_shelf +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_the_shoes_off_the_shelf -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: use the right arm to clamp a shoe in the middle of the shoe rack -objects: +dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-321834 -dataset_size: 18.2GB -statistics: - total_episodes: 595 - total_frames: 321834 - total_tasks: 6 - total_videos: 1785 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the right arm to clamp a shoe in the middle of the shoe rack sub_tasks: - use the right arm to clamp a shoe in the middle of the shoe rack - use the right arm to take out the clamped shoe from the shoe rack and put it down @@ -56,7 +63,30 @@ sub_tasks: - Hold the shoe in the middle of the shoe rack with your right arm - use the left arm to clamp a shoe on the right side of the shoe rack - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 595 + total_frames: 321834 + total_tasks: 6 + total_videos: 1785 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 321834 +dataset_size: 18.2GB +data_structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,40 +165,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_take_the_shoes_off_the_shelf + dataset_name: take_the_shoes_off_the_shelf + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: use the right arm to clamp a shoe in the middle of the shoe rack + objects: *id001 + operation_platform_height: null + frame_range: 0-321834 + dataset_size: 18.2GB + statistics: *id002 + dataset_uuid: ed522b9e-68ff-49a2-b61d-a81ed07e5aa2 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the right arm to clamp a shoe in the middle of the shoe rack + - use the right arm to take out the clamped shoe from the shoe rack and put it down + - use the left arm to clamp a shoe in the middle of the shoe rack + - use the left arm to clamp a shoe on the left side of the shoe rack + - Use your left arm to remove the clamped shoe from the shoe rack and put it down + - use the right arm to clamp a shoe on the right side of the shoe rack + - use the right arm to clamp a shoe on the left side of the shoe rack + - Hold the shoe in the middle of the shoe rack with your right arm + - use the left arm to clamp a shoe on the right side of the shoe rack + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml index c68d71b6700943924e3a6d0c37fb4de335699297..cfa1d7b840e604e1e058ba477ffea5334de0598f 100644 --- a/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml +++ b/dataset_info/Cobot_Magic_the_box_stores_table_tennis_balls.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_the_box_stores_table_tennis_balls +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: the_box_stores_table_tennis_balls -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: use the right arm to clamp the table tennis ball closest to it -objects: +dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-438756 -dataset_size: 19.9GB -statistics: - total_episodes: 477 - total_frames: 438756 - total_tasks: 5 - total_videos: 1431 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the right arm to clamp the table tennis ball closest to it sub_tasks: - use the right arm to clamp the table tennis ball closest to it - use the right arm to put the table tennis ball into the box - use the left arm to clamp the table tennis ball closest to it - use the left arm to put the table tennis ball into the box - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 477 + total_frames: 438756 + total_tasks: 5 + total_videos: 1431 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 438756 +dataset_size: 19.9GB +data_structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_the_box_stores_table_tennis_balls + dataset_name: the_box_stores_table_tennis_balls + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: use the right arm to clamp the table tennis ball closest to it + objects: *id001 + operation_platform_height: null + frame_range: 0-438756 + dataset_size: 19.9GB + statistics: *id002 + dataset_uuid: 4af013a1-8691-4531-a11d-4a02b8ba9fdf + language: *id003 + task_categories: *id004 + sub_tasks: + - use the right arm to clamp the table tennis ball closest to it + - use the right arm to put the table tennis ball into the box + - use the left arm to clamp the table tennis ball closest to it + - use the left arm to put the table tennis ball into the box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml index 1f97d0fd0e940fffdfb633629718921c76cefe8a..d593d9eaaa14c55dd6bc21ec0200cd575fb0e9ac 100644 --- a/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_fruit.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_the_plate_holds_the_fruit +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: the_plate_holds_the_fruit -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: use the left arm to grab a banana from the bag -objects: +dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-190455 -dataset_size: 8.3GB -statistics: - total_episodes: 525 - total_frames: 190455 - total_tasks: 6 - total_videos: 1575 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to grab a banana from the bag sub_tasks: - use the left arm to grab a banana from the bag - use the right arm to grab a kiwi from the bag @@ -85,7 +92,30 @@ sub_tasks: - use the left arm to put the pear into the empty plate on the right - use the left arm to grab a pomegranate from the bag - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -93,7 +123,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 525 + total_frames: 190455 + total_tasks: 6 + total_videos: 1575 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 190455 +dataset_size: 8.3GB +data_structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -102,13 +167,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -126,40 +194,142 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_the_plate_holds_the_fruit + dataset_name: the_plate_holds_the_fruit + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: use the left arm to grab a banana from the bag + objects: *id001 + operation_platform_height: null + frame_range: 0-190455 + dataset_size: 8.3GB + statistics: *id002 + dataset_uuid: 052c69fa-debe-4d27-9d6d-ae6afff264c2 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to grab a banana from the bag + - use the right arm to grab a kiwi from the bag + - use the right arm to put the kiwi into the empty plate on the left + - use the left arm to grab a pear from the bag + - use the right arm to put the apple into the empty plate on the left + - use the left arm to put the kiwi into the empty plate on the right + - use the left arm to grab a kiwi from the bag + - use the right arm to put the peach into the empty plate on the left + - use the left arm to put the mango into the empty plate on the right + - use the right arm to put the pomegranate into the empty plate on the left + - use the left arm to grab an apple from the bag + - use the left arm to put the peach into the empty plate on the right + - use the right arm to grab a pomegranate from the bag + - use the left arm to grab a mango from the bag + - use the right arm to put the mango into the empty plate on the left + - use the right arm to grab a mango from the bag + - use the right arm to grab a banana from the bag + - use the right arm to grab a peach from the bag + - use the right arm to grab an apple from the bag + - use the left arm to put the banana into the empty plate on the right + - use the left arm to grab a peach from the bag + - use the left arm to put the pomegranate into the empty plate on the right + - use the left arm to put the lemon into the empty plate on the right + - use the right arm to put the pear into the empty plate on the left + - use the right arm to put the lemon into the empty plate on the left + - use the right arm to put the banana into the empty plate on the right + - use the left arm to grab a lemon from the bag + - use the right arm to grab a pear from the bag + - use the left arm to put the apple into the empty plate on the right + - use the right arm to grab a lemon from the bag + - use the left arm to put the pear into the empty plate on the right + - use the left arm to grab a pomegranate from the bag + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml index 11db86c0ce5619e26e84e3d4672cead999f97818..21f65e989502a67b21772933b08bd0146cebf045 100644 --- a/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml +++ b/dataset_info/Cobot_Magic_the_plate_holds_the_vegetables.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_the_plate_holds_the_vegetables +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: the_plate_holds_the_vegetables -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the pumpkin on the plate with right gripper -objects: +dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-179090 -dataset_size: 8.5GB -statistics: - total_episodes: 505 - total_frames: 179090 - total_tasks: 6 - total_videos: 1515 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pumpkin on the plate with right gripper sub_tasks: - Place the pumpkin on the plate with right gripper - Place the radish on the plate with right gripper @@ -83,7 +90,30 @@ sub_tasks: - Grasp the pumpkin with right gripper - Place the bitter melon on the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -91,7 +121,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 505 + total_frames: 179090 + total_tasks: 6 + total_videos: 1515 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 179090 +dataset_size: 8.5GB +data_structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -100,13 +165,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -124,40 +192,140 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_the_plate_holds_the_vegetables + dataset_name: the_plate_holds_the_vegetables + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the pumpkin on the plate with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-179090 + dataset_size: 8.5GB + statistics: *id002 + dataset_uuid: 3ce5fdfc-c006-40f2-95d9-16a38b9e6337 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pumpkin on the plate with right gripper + - Place the radish on the plate with right gripper + - Place the potato on the plate with left gripper + - Place the bell pepper on the plate with right gripper + - Place the eggplant on the plate with right gripper + - Place the eggplant on the plate with left gripper + - Grasp the bell pepper with left gripper + - End + - Grasp the bell pepper with right gripper + - Place the bell pepper on the plate with left gripper + - Grasp the bitter melon with left gripper + - Grasp the eggplant with right gripper + - Grasp the potato with left gripper + - Abnormal + - Place the radish on the plate with left gripper + - Grasp the bitter melon with right gripper + - Grasp the eggplant with left gripper + - Place the pumpkin on the plate with left gripper + - Place the carrot on the plate with right gripper + - Place the carrot on the plate with left gripper + - Grasp the carrot with left gripper + - Grasp the radish with left gripper + - Place the bitter melon on the plate with left gripper + - Grasp the pumpkin with left gripper + - Grasp the radish with right gripper + - Grasp the carrot with right gripper + - Grasp the potato with right gripper + - Place the potato on the plate with right gripper + - Grasp the pumpkin with right gripper + - Place the bitter melon on the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml index ac30eaec70b2d6e2443b7f33a68aefa7dd63b840..4f425a46e9aacc8d579b70e606c4f31a87f9af99 100644 --- a/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml +++ b/dataset_info/Cobot_Magic_turn_off_the_desk_lamp.yaml @@ -1,13 +1,35 @@ -path: Cobot_Magic_turn_off_the_desk_lamp +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: turn_off_the_desk_lamp -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- pressbutton -tasks: use the left arm to press the button switch on the lamp holder -objects: +dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -26,28 +48,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-121821 -dataset_size: 8.4GB -statistics: - total_episodes: 398 - total_frames: 121821 - total_tasks: 6 - total_videos: 1194 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to press the button switch on the lamp holder sub_tasks: - use the left arm to press the button switch on the lamp holder - use the right arm to press the button switch on the lamp holder - 'null' -annotations: +atomic_actions: +- pressbutton +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 398 + total_frames: 121821 + total_tasks: 6 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 121821 +dataset_size: 8.4GB +data_structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,40 +156,110 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_turn_off_the_desk_lamp + dataset_name: turn_off_the_desk_lamp + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - pressbutton + tasks: use the left arm to press the button switch on the lamp holder + objects: *id001 + operation_platform_height: null + frame_range: 0-121821 + dataset_size: 8.4GB + statistics: *id002 + dataset_uuid: 1f49016c-b7ec-43a1-aa91-d6f484617a5f + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to press the button switch on the lamp holder + - use the right arm to press the button switch on the lamp holder + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml index ef3dcb6b791e7d2438fd9cfd14e5ecd01e449166..45e2dafa717591be0a389fc1669edaa78a80cf1b 100644 --- a/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml +++ b/dataset_info/Cobot_Magic_turn_on_the_bulb.yaml @@ -1,13 +1,35 @@ -path: Cobot_Magic_turn_on_the_bulb +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: turn_on_the_bulb -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- press -tasks: End -objects: +dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -20,28 +42,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-2216 -dataset_size: 52.8MB -statistics: - total_episodes: 11 - total_frames: 2216 - total_tasks: 1 - total_videos: 33 - total_chunks: 1 - chunks_size: 1000 - fps: 50 -dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Turn on the switch - 'null' -annotations: +atomic_actions: +- press +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -49,7 +79,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 11 + total_frames: 2216 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 1000 + fps: 50 +frame_num: 2216 +dataset_size: 52.8MB +data_structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -58,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -82,40 +150,110 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_turn_on_the_bulb + dataset_name: turn_on_the_bulb + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - press + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-2216 + dataset_size: 52.8MB + statistics: *id002 + dataset_uuid: 7bd56e56-b106-4062-8952-e5bffc346b4c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Turn on the switch + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml index 3202b0edf28c7d16354bdc3eac423b9306cec113..840b09c42cbf19f85f8c6a7c74a0c669e199e4c6 100644 --- a/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml +++ b/dataset_info/Cobot_Magic_turn_on_the_desk_lamp.yaml @@ -1,13 +1,35 @@ -path: Cobot_Magic_turn_on_the_desk_lamp +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: turn_on_the_desk_lamp -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- pressbutton -tasks: use the left arm to press the button switch on the lamp holder -objects: +dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -26,28 +48,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-146182 -dataset_size: 8.2GB -statistics: - total_episodes: 449 - total_frames: 146182 - total_tasks: 6 - total_videos: 1347 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: use the left arm to press the button switch on the lamp holder sub_tasks: - use the left arm to press the button switch on the lamp holder - use the right arm to press the button switch on the lamp holder - 'null' -annotations: +atomic_actions: +- pressbutton +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 449 + total_frames: 146182 + total_tasks: 6 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 146182 +dataset_size: 8.2GB +data_structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,40 +156,110 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_turn_on_the_desk_lamp + dataset_name: turn_on_the_desk_lamp + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - pressbutton + tasks: use the left arm to press the button switch on the lamp holder + objects: *id001 + operation_platform_height: null + frame_range: 0-146182 + dataset_size: 8.2GB + statistics: *id002 + dataset_uuid: 03edee3f-f1b6-4836-b23f-afb7c2210471 + language: *id003 + task_categories: *id004 + sub_tasks: + - use the left arm to press the button switch on the lamp holder + - use the right arm to press the button switch on the lamp holder + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_turn_on_the_desk_lamp_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_twist_bottle_cap.yaml b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml index a48a1b06fe2a0479479e5ad384c3f77a99cce617..3980f742102bf394bf2b935ea19e80ff47996296 100644 --- a/dataset_info/Cobot_Magic_twist_bottle_cap.yaml +++ b/dataset_info/Cobot_Magic_twist_bottle_cap.yaml @@ -1,16 +1,35 @@ -path: Cobot_Magic_twist_bottle_cap +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: twist_bottle_cap -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- twist -tasks: Place the Yili Changqing with the left hand -objects: +dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -53,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-749388 -dataset_size: 8.7GB -statistics: - total_episodes: 863 - total_frames: 749388 - total_tasks: 9 - total_videos: 2589 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the Yili Changqing with the left hand sub_tasks: - Place the Yili Changqing with the left hand - Lift the Peach Oolong Tea with the left hand @@ -122,7 +128,31 @@ sub_tasks: - Lift the Mirinda with the left hand - Place the bottle cap on the table with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- twist +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -130,7 +160,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 863 + total_frames: 749388 + total_tasks: 9 + total_videos: 2589 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 749388 +dataset_size: 8.7GB +data_structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -139,13 +204,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -163,40 +231,161 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_twist_bottle_cap + dataset_name: twist_bottle_cap + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - twist + tasks: Place the Yili Changqing with the left hand + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-749388 + dataset_size: 8.7GB + statistics: *id002 + dataset_uuid: c084dcfc-e7a8-4e35-a194-0325296dcd6e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the Yili Changqing with the left hand + - Lift the Peach Oolong Tea with the left hand + - Place the bottle cap on the table with the right hand + - Move the Peach Oolong Tea from right to left + - Move from left to right + - Move the Peach Oolong Tea from left to right + - Secure the C'estbon with the left hand + - Move the Mirinda to the right with the left hand + - Place the bottle on the table with the left gripper + - Grasp the bottle and move it to the center of the table with the left gripper + - Move the Mirinda from left to right + - Move the Mirinda from top to bottom + - Discard + - Place the bottle cap on the table + - End + - Place the C'estbon with the left hand + - Move the Mirinda from right to left + - Move the green tea to the right with the left hand + - Lift the bottle and move it to the center of the table with the left gripper + - Grab the green tea with the left hand + - Secure the Peach Oolong Tea with the left hand + - Place the Mirinda with the left hand + - Fix the Yili Changqing on the left + - Secure the green tea with the left hand + - Secure the Yili Changqing with the left hand + - Move the Yili Changqing from left to right + - Abnormal + - Place the bottle cap on the right + - Place the green tea with the left hand + - Move the Yili Changqing to the right with the left hand + - Lift the green tea with the left hand + - Grab the C'estbon with the left hand + - Move from right to left + - Unscrew the bottle cap with the right gripper while holding the bottle with the + left gripper + - Secure the Mirinda with the left hand + - Grab the Yili Changqing with the left hand + - Lift the Yili Changqing with the left hand + - Move the C'estbon to the right with the left hand + - Place the Peach Oolong Tea with the left hand + - Move the Yili Changqing from right to left + - Fix the Mirinda on the left + - Move the Yili Changqing from bottom to top + - Grab the Peach Oolong Tea with the left hand + - Move the Peach Oolong Tea to the right with the left hand + - Move the Yili Changqing from top to bottom + - Grab the Mirinda with the left hand + - Twist the bottle cap with the right hand + - Lift the Mirinda with the left hand + - Place the bottle cap on the table with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_vase_storage_flower.yaml b/dataset_info/Cobot_Magic_vase_storage_flower.yaml index e4ee52482650bfaa3844cda68474e488b55a7dbf..2be13d8960db9a9482a18c9127ab37b2aad6c756 100644 --- a/dataset_info/Cobot_Magic_vase_storage_flower.yaml +++ b/dataset_info/Cobot_Magic_vase_storage_flower.yaml @@ -1,15 +1,35 @@ -path: Cobot_Magic_vase_storage_flower +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: vase_storage_flower -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the pink flower in the vase with right gripper -objects: +dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-239272 -dataset_size: 12.8GB -statistics: - total_episodes: 455 - total_frames: 239272 - total_tasks: 6 - total_videos: 1365 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pink flower in the vase with right gripper sub_tasks: - Place the pink flower in the vase with right gripper - Grasp the dumpling with right gripper @@ -74,7 +81,30 @@ sub_tasks: - Grasp the pink flower with right gripper - Grasp the blue flower with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -82,7 +112,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 455 + total_frames: 239272 + total_tasks: 6 + total_videos: 1365 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 239272 +dataset_size: 12.8GB +data_structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -91,13 +156,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -115,40 +183,131 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_vase_storage_flower + dataset_name: vase_storage_flower + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the pink flower in the vase with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-239272 + dataset_size: 12.8GB + statistics: *id002 + dataset_uuid: ba4d8977-ef3d-433d-97f5-974b820832e8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pink flower in the vase with right gripper + - Grasp the dumpling with right gripper + - Grasp the white flower with right gripper + - Put the flowers in the vase with both hands + - Grasp the dumpling with left gripper + - use the right arm to insert the flowers into the vase + - Abnormal + - use the right arm to grab a bunch of fresh flowers + - End + - Place the white flower in the vase with right gripper + - Place the dumpling on the steamer with left gripper + - Place the pink flower in the vase with left gripper + - Grasp the blue flower with right gripper + - Place the blue flower in the vase with right gripper + - Place the dumpling on the steamer with right gripper + - use the left arm to insert the flowers into the vase + - use the left arm to grab a bunch of fresh flowers + - Place the blue flower in the vase with left gripper + - Grasp the pink flower with left gripper + - Grasp the pink flower with right gripper + - Grasp the blue flower with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Cobot_Magic_water_bottle_storage.yaml b/dataset_info/Cobot_Magic_water_bottle_storage.yaml index b1ea445b9c86e6337da7d85ae3c7b0bb02b14dea..4f08318b4eafdd19d5801a805ac438bfcf304bc6 100644 --- a/dataset_info/Cobot_Magic_water_bottle_storage.yaml +++ b/dataset_info/Cobot_Magic_water_bottle_storage.yaml @@ -1,17 +1,35 @@ -path: Cobot_Magic_water_bottle_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: water_bottle_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -- close -tasks: End -objects: +dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -30,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-56495 -dataset_size: 1.0GB -statistics: - total_episodes: 100 - total_frames: 56495 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the water bottle inside the drawer. @@ -57,7 +62,32 @@ sub_tasks: - Open the drawer. - Pick up the water bottle with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +- close +robot_name: Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 100 + total_frames: 56495 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 56495 +dataset_size: 1.0GB +data_structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Cobot_Magic_water_bottle_storage + dataset_name: water_bottle_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + - close + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-56495 + dataset_size: 1.0GB + statistics: *id002 + dataset_uuid: d77bcbca-f9c3-445e-b349-2c6e1470f4b0 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the water bottle inside the drawer. + - Close the drawer. + - Place the water bottle in the top drawer with the left gripper + - Close the top drawer with the right gripper + - Open the top drawer with the right gripper + - Open the drawer. + - Pick up the water bottle with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_basket_storage_apple.yaml b/dataset_info/G1edu-u3_basket_storage_apple.yaml index c25d7049978948961155e7c1d0643d3ebf489967..de024ab915c2ab0b53cd32c59689031b5f452299 100644 --- a/dataset_info/G1edu-u3_basket_storage_apple.yaml +++ b/dataset_info/G1edu-u3_basket_storage_apple.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_basket_storage_apple +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_apple -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the apple with the left gripper -objects: +dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-45574 -dataset_size: 1.5GB -statistics: - total_episodes: 88 - total_frames: 45574 - total_tasks: 1 - total_videos: 264 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the apple with the left gripper sub_tasks: - Grasp the apple with the left gripper - Place the apple into the basket with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Move the basket to the front of the table with the right gripper - Grasp the basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 88 + total_frames: 45574 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 45574 +dataset_size: 1.5GB +data_structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +135,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,40 +162,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_basket_storage_apple + dataset_name: basket_storage_apple + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the apple with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-45574 + dataset_size: 1.5GB + statistics: *id002 + dataset_uuid: ad45e74b-fccc-4f12-9f34-a2312636f61c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the apple with the left gripper + - Place the apple into the basket with the left gripper + - End + - Static + - Move the basket to the front of the table with the right gripper + - Grasp the basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.color_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.color_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_basket_storage_apple_b.yaml b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml index 117c369fc8e059a442e237aa9c55f6dfef8548fd..aed0f86789eb8d6c3e5f12f1ee45d2e5dd2ab60c 100644 --- a/dataset_info/G1edu-u3_basket_storage_apple_b.yaml +++ b/dataset_info/G1edu-u3_basket_storage_apple_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_basket_storage_apple_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_apple_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: End -objects: +dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-118352 -dataset_size: 2.3GB -statistics: - total_episodes: 241 - total_frames: 118352 - total_tasks: 1 - total_videos: 723 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the grapes in the plate with left hand - Grasp the grapes with left hand - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 241 + total_frames: 118352 + total_tasks: 1 + total_videos: 723 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 118352 +dataset_size: 2.3GB +data_structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,40 +158,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_basket_storage_apple_b + dataset_name: basket_storage_apple_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-118352 + dataset_size: 2.3GB + statistics: *id002 + dataset_uuid: 8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the grapes in the plate with left hand + - Grasp the grapes with left hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml index 7012be614e6aea34fe0904fce59f6d12bf18502e..9f1528a193076458f90978d81972f9a076c47966 100644 --- a/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml +++ b/dataset_info/G1edu-u3_bowl_storage_grape_singletry.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_bowl_storage_grape_singletry +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: bowl_storage_grape_singletry -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the grapes with left hand -objects: +dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-119619 -dataset_size: 2.4GB -statistics: - total_episodes: 242 - total_frames: 119619 - total_tasks: 1 - total_videos: 726 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the grapes with left hand sub_tasks: - Grasp the grapes with left hand - Grasp the bread with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the bread the bowl with the left gripper - Place the grapes in the plate with left hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 242 + total_frames: 119619 + total_tasks: 1 + total_videos: 726 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 119619 +dataset_size: 2.4GB +data_structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +135,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,40 +162,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_bowl_storage_grape_singletry + dataset_name: bowl_storage_grape_singletry + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the grapes with left hand + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-119619 + dataset_size: 2.4GB + statistics: *id002 + dataset_uuid: 40947b8c-339b-414f-94d9-6d5f24520362 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the grapes with left hand + - Grasp the bread with the left gripper + - Static + - End + - Place the bread the bowl with the left gripper + - Place the grapes in the plate with left hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_food_storage.yaml b/dataset_info/G1edu-u3_food_storage.yaml index 8ed3b9cfe38310ad07c23a8d11e3afc4e595466e..2816334391228d728e6464508c72b0e166532c11 100644 --- a/dataset_info/G1edu-u3_food_storage.yaml +++ b/dataset_info/G1edu-u3_food_storage.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_food_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: food_storage -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the bowl with the left gripper -objects: +dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-316377 -dataset_size: 13.6GB -statistics: - total_episodes: 190 - total_frames: 316377 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the bowl with the left gripper sub_tasks: - Grasp the bowl with the left gripper - Pour the cake into the basket with the left gripper @@ -73,7 +80,30 @@ sub_tasks: - Push the bowl to the center of the table using the left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -81,7 +111,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 190 + total_frames: 316377 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 316377 +dataset_size: 13.6GB +data_structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -90,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -114,38 +181,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_food_storage + dataset_name: food_storage + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the bowl with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-316377 + dataset_size: 13.6GB + statistics: *id002 + dataset_uuid: 4f2a72fa-3388-401a-ab17-b437417cce23 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the bowl with the left gripper + - Pour the cake into the basket with the left gripper + - End + - Place the bowl in the center of the table with the left gripper + - Pick up the bread with the right gripper and place it on the plate + - Place the bowl on the table with the left gripper + - Push the bowl to the center of the table using the left gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.color_right_wrist/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.color_right_wrist/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml index 24d1e6d25e04c04153d7ffb4e4f98b495521c67b..1b4e9792b24a907b0796b7338cfa809ac8304ce9 100644 --- a/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml +++ b/dataset_info/G1edu-u3_little_tray_storage_apple_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_little_tray_storage_apple_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: little_tray_storage_apple_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the apple on the orange plate with right gripper -objects: +dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-3928 -dataset_size: 51.2MB -statistics: - total_episodes: 15 - total_frames: 3928 - total_tasks: 1 - total_videos: 15 - total_chunks: 1 - chunks_size: 15 - fps: 30 -dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the apple on the orange plate with right gripper sub_tasks: - Place the apple on the orange plate with right gripper - End - Place the apple on the orange plate with left gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 15 + total_frames: 3928 + total_tasks: 1 + total_videos: 15 + total_chunks: 1 + chunks_size: 15 + fps: 30 +frame_num: 3928 +dataset_size: 51.2MB +data_structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,26 +151,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_little_tray_storage_apple_b + dataset_name: little_tray_storage_apple_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the apple on the orange plate with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-3928 + dataset_size: 51.2MB + statistics: *id002 + dataset_uuid: eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the apple on the orange plate with right gripper + - End + - Place the apple on the orange plate with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml index 07b2824336e0c464870b8521f93da11da1b55417..e9547336d23c23af035ec37daf501f4d7148980d 100644 --- a/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml +++ b/dataset_info/G1edu-u3_little_tray_storage_lemon_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_little_tray_storage_lemon_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: little_tray_storage_lemon_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the lemon on the orange plate with right gripper -objects: +dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-3028 -dataset_size: 39.3MB -statistics: - total_episodes: 14 - total_frames: 3028 - total_tasks: 1 - total_videos: 14 - total_chunks: 1 - chunks_size: 14 - fps: 30 -dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the lemon on the orange plate with right gripper sub_tasks: - Place the lemon on the orange plate with right gripper - End - Place the lemon on the orange plate with left gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 14 + total_frames: 3028 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 +frame_num: 3028 +dataset_size: 39.3MB +data_structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,26 +151,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_little_tray_storage_lemon_b + dataset_name: little_tray_storage_lemon_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the lemon on the orange plate with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-3028 + dataset_size: 39.3MB + statistics: *id002 + dataset_uuid: 7150e18c-8f80-44c3-934f-40eac73ed334 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the lemon on the orange plate with right gripper + - End + - Place the lemon on the orange plate with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_apple_a.yaml b/dataset_info/G1edu-u3_pick_apple_a.yaml index 4c6371291aa216c1d484b21adfb931d3288b8679..cd39dee39c9f322bd1d1d12e6de4ec14f6d59b10 100644 --- a/dataset_info/G1edu-u3_pick_apple_a.yaml +++ b/dataset_info/G1edu-u3_pick_apple_a.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pick_apple_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_apple_a -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,29 +48,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-15439 -dataset_size: 208.4MB -statistics: - total_episodes: 40 - total_frames: 15439 - total_tasks: 1 - total_videos: 40 - total_chunks: 1 - chunks_size: 40 - fps: 30 -dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the apple and lift it to the center of the view with right gripper - Grasp the apple and lift it to the center of the view with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +88,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 40 + total_frames: 15439 + total_tasks: 1 + total_videos: 40 + total_chunks: 1 + chunks_size: 40 + fps: 30 +frame_num: 15439 +dataset_size: 208.4MB +data_structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,26 +152,101 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_apple_a + dataset_name: pick_apple_a + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-15439 + dataset_size: 208.4MB + statistics: *id002 + dataset_uuid: 6afbbc46-1a5f-434d-bfe5-7a7ae32db479 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the apple and lift it to the center of the view with right gripper + - Grasp the apple and lift it to the center of the view with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" + structure: "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_apple_b.yaml b/dataset_info/G1edu-u3_pick_apple_b.yaml index b3ea994977c9ba5720ad071af616d17f00740879..aa691747f9ee758adffa067a2916d81d94d7d573 100644 --- a/dataset_info/G1edu-u3_pick_apple_b.yaml +++ b/dataset_info/G1edu-u3_pick_apple_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_apple_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_apple_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-8289 -dataset_size: 102.4MB -statistics: - total_episodes: 26 - total_frames: 8289 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 -dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the apple and lift it to the center of the view with right gripper - Grasp the apple and lift it to the center of the view with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 26 + total_frames: 8289 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +frame_num: 8289 +dataset_size: 102.4MB +data_structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_apple_b + dataset_name: pick_apple_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-8289 + dataset_size: 102.4MB + statistics: *id002 + dataset_uuid: 5cb12579-7559-4cdb-b6c3-8ffb1f039b19 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the apple and lift it to the center of the view with right gripper + - Grasp the apple and lift it to the center of the view with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" + structure: "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml index 70011183e70ed2355c9893e5ac61c73b17954006..b73d64dee4d605a6357fffd01db4f7338be55161 100644 --- a/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml +++ b/dataset_info/G1edu-u3_pick_crumpled_paper_aa.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_crumpled_paper_aa +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_crumpled_paper_aa -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-4485 -dataset_size: 58.9MB -statistics: - total_episodes: 13 - total_frames: 4485 - total_tasks: 1 - total_videos: 13 - total_chunks: 1 - chunks_size: 13 - fps: 30 -dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - "Grasp the paper ball and lift it to the center of the view with right gripper \uFEFF\ @@ -45,7 +53,29 @@ sub_tasks: - "Grasp the paper ball and lift it to the center of the view with left gripper \uFEFF" - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 13 + total_frames: 4485 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 +frame_num: 4485 +dataset_size: 58.9MB +data_structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +120,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,26 +147,103 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_crumpled_paper_aa + dataset_name: pick_crumpled_paper_aa + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-4485 + dataset_size: 58.9MB + statistics: *id002 + dataset_uuid: b6576ff7-68ba-498d-a50c-c97bad67554e + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - "Grasp the paper ball and lift it to the center of the view with right gripper\ + \ \uFEFF \uFEFF" + - "Grasp the paper ball and lift it to the center of the view with left gripper\ + \ \uFEFF" + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_cup_a.yaml b/dataset_info/G1edu-u3_pick_cup_a.yaml index bb98577c7bea778a73785e7048b9df6ba59c7b9b..2ae526c242a894de8310fb7b5dfe65e0b29152ad 100644 --- a/dataset_info/G1edu-u3_pick_cup_a.yaml +++ b/dataset_info/G1edu-u3_pick_cup_a.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_cup_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_cup_a -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-8046 -dataset_size: 88.4MB -statistics: - total_episodes: 24 - total_frames: 8046 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 24 - fps: 30 -dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the paper cup and lift it to the center of the view with right gripper - Grasp the paper cup and lift it to the center of the view with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 24 + total_frames: 8046 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 +frame_num: 8046 +dataset_size: 88.4MB +data_structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_cup_a + dataset_name: pick_cup_a + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-8046 + dataset_size: 88.4MB + statistics: *id002 + dataset_uuid: 6c4e6e81-bded-43dc-a803-02147d6eb107 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the paper cup and lift it to the center of the view with right gripper + - Grasp the paper cup and lift it to the center of the view with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" + structure: "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml index 87c520f266b7dbc7b66bd93a4a25c02f1086354c..9752c382a0cdab5552b862cf70cbe897d68dde5a 100644 --- a/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml +++ b/dataset_info/G1edu-u3_pick_empty_bottle_ab.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_empty_bottle_ab +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_empty_bottle_ab -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-3290 -dataset_size: 45.4MB -statistics: - total_episodes: 11 - total_frames: 3290 - total_tasks: 1 - total_videos: 11 - total_chunks: 1 - chunks_size: 11 - fps: 30 -dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - "Grasp the cola bottle and lift it to the center of the view with right gripper\ @@ -46,7 +54,29 @@ sub_tasks: \ \uFEFF" - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 11 + total_frames: 3290 + total_tasks: 1 + total_videos: 11 + total_chunks: 1 + chunks_size: 11 + fps: 30 +frame_num: 3290 +dataset_size: 45.4MB +data_structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +121,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,26 +148,103 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_empty_bottle_ab + dataset_name: pick_empty_bottle_ab + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-3290 + dataset_size: 45.4MB + statistics: *id002 + dataset_uuid: e8eb32c9-9e05-4189-9718-badce6a3ac0b + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - "Grasp the cola bottle and lift it to the center of the view with right gripper\ + \ \uFEFF" + - "Grasp the cola bottle and lift it to the center of the view with left gripper\ + \ \uFEFF \uFEFF" + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml index 5bf9b65dbe306c3f86ba221df97e6785319dc6f3..7212292e1be7f503f32c650e5ae5bc74a134cd05 100644 --- a/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml +++ b/dataset_info/G1edu-u3_pick_leftover_food_ac.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_leftover_food_ac +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_leftover_food_ac -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-4666 -dataset_size: 63.0MB -statistics: - total_episodes: 14 - total_frames: 4666 - total_tasks: 1 - total_videos: 14 - total_chunks: 1 - chunks_size: 14 - fps: 30 -dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Abnormal @@ -46,7 +54,29 @@ sub_tasks: - "Grasp the bagged food and lift it to the center of the view with right gripper\ \ \uFEFF" - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 14 + total_frames: 4666 + total_tasks: 1 + total_videos: 14 + total_chunks: 1 + chunks_size: 14 + fps: 30 +frame_num: 4666 +dataset_size: 63.0MB +data_structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +121,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,26 +148,103 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_leftover_food_ac + dataset_name: pick_leftover_food_ac + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-4666 + dataset_size: 63.0MB + statistics: *id002 + dataset_uuid: 31bb63f2-f1c2-48b4-bc7f-98e365933e8f + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Abnormal + - "Grasp the bagged food and lift it to the center of the view with left gripper\ + \ \uFEFF" + - "Grasp the bagged food and lift it to the center of the view with right gripper\ + \ \uFEFF" + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml index e19e023cd82a1a51107ae688479f51281122d030..1abf9703636d68815f40ec3a075558cf28e16210 100644 --- a/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml +++ b/dataset_info/G1edu-u3_pick_metal_bowl_aa.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_metal_bowl_aa +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_metal_bowl_aa -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the metal bowl and lift it to the center of the view with left gripper -objects: +dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-15548 -dataset_size: 221.0MB -statistics: - total_episodes: 35 - total_frames: 15548 - total_tasks: 1 - total_videos: 35 - total_chunks: 1 - chunks_size: 35 - fps: 30 -dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the metal bowl and lift it to the center of the view with + left gripper sub_tasks: - Grasp the metal bowl and lift it to the center of the view with left gripper - End - Grasp the metal bowl and lift it to the center of the view with right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -52,7 +83,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 35 + total_frames: 15548 + total_tasks: 1 + total_videos: 35 + total_chunks: 1 + chunks_size: 35 + fps: 30 +frame_num: 15548 +dataset_size: 221.0MB +data_structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -61,13 +120,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -85,26 +147,101 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_metal_bowl_aa + dataset_name: pick_metal_bowl_aa + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the metal bowl and lift it to the center of the view with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-15548 + dataset_size: 221.0MB + statistics: *id002 + dataset_uuid: e1af01c7-7aea-4e21-a205-cadda0c4620b + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the metal bowl and lift it to the center of the view with left gripper + - End + - Grasp the metal bowl and lift it to the center of the view with right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml index 3a2adbfea8e1ca71713137974ecfce1c796f5ab6..822a9ef7fa85fcb4a381ff79f177e953a49bfcde 100644 --- a/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml +++ b/dataset_info/G1edu-u3_pick_metal_bowl_ab.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_metal_bowl_ab +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_metal_bowl_ab -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the metal bowl and lift it to the center of the view with left gripper -objects: +dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-11322 -dataset_size: 158.4MB -statistics: - total_episodes: 36 - total_frames: 11322 - total_tasks: 1 - total_videos: 36 - total_chunks: 1 - chunks_size: 37 - fps: 30 -dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the metal bowl and lift it to the center of the view with + left gripper sub_tasks: - Grasp the metal bowl and lift it to the center of the view with left gripper - End - Grasp the metal bowl and lift it to the center of the view with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +82,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 36 + total_frames: 11322 + total_tasks: 1 + total_videos: 36 + total_chunks: 1 + chunks_size: 37 + fps: 30 +frame_num: 11322 +dataset_size: 158.4MB +data_structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +119,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +146,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_metal_bowl_ab + dataset_name: pick_metal_bowl_ab + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the metal bowl and lift it to the center of the view with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-11322 + dataset_size: 158.4MB + statistics: *id002 + dataset_uuid: 988d81c9-a23a-4a67-9613-aed7fcecf7e3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the metal bowl and lift it to the center of the view with left gripper + - End + - Grasp the metal bowl and lift it to the center of the view with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml index c6d0ccdd8480afe22c484f071b666ea471ddad4a..006515bfeb66419f969c0b127af3e73c22bc6fb6 100644 --- a/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ac.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_plastic_bowl_ac +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_plastic_bowl_ac -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper -objects: +dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-12573 -dataset_size: 175.8MB -statistics: - total_episodes: 32 - total_frames: 12573 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 32 - fps: 30 -dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the plastic bowl and lift it to the center of the view with + left gripper sub_tasks: - Grasp the plastic bowl and lift it to the center of the view with left gripper - End - Grasp the plastic bowl and lift it to the center of the view with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +82,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 32 + total_frames: 12573 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 +frame_num: 12573 +dataset_size: 175.8MB +data_structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +119,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +146,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_plastic_bowl_ac + dataset_name: pick_plastic_bowl_ac + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-12573 + dataset_size: 175.8MB + statistics: *id002 + dataset_uuid: 8b3bc197-5de6-4704-a513-0c7fbf7f29ed + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the plastic bowl and lift it to the center of the view with left gripper + - End + - Grasp the plastic bowl and lift it to the center of the view with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml index 8882eb02a6bc59a8aaed05f945de295b5265bb0f..69dc158b5f9ed3d11f425cd5ebb5b6a8fbfe01a2 100644 --- a/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml +++ b/dataset_info/G1edu-u3_pick_plastic_bowl_ad.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_plastic_bowl_ad +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_plastic_bowl_ad -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper -objects: +dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-10038 -dataset_size: 144.0MB -statistics: - total_episodes: 32 - total_frames: 10038 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 33 - fps: 30 -dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the plastic bowl and lift it to the center of the view with + left gripper sub_tasks: - Grasp the plastic bowl and lift it to the center of the view with left gripper - End - Grasp the plastic bowl and lift it to the center of the view with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +82,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 32 + total_frames: 10038 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 33 + fps: 30 +frame_num: 10038 +dataset_size: 144.0MB +data_structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +119,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +146,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_plastic_bowl_ad + dataset_name: pick_plastic_bowl_ad + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the plastic bowl and lift it to the center of the view with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-10038 + dataset_size: 144.0MB + statistics: *id002 + dataset_uuid: 2efbcfc7-6d0c-4d2f-873c-534fe35c6c26 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the plastic bowl and lift it to the center of the view with left gripper + - End + - Grasp the plastic bowl and lift it to the center of the view with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml index 2e73dcd714016fb39662379a55b06a393ad8d6d3..0a91497b40b69635adc3e13b9ece17c030fcc0be 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_a.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_bottled_water_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_bottled_water_a -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the water bottle and lift it to the center of the view with right gripper -objects: +dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-12057 -dataset_size: 153.0MB -statistics: - total_episodes: 29 - total_frames: 12057 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 -dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the water bottle and lift it to the center of the view with + right gripper sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +89,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 29 + total_frames: 12057 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +frame_num: 12057 +dataset_size: 153.0MB +data_structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,26 +153,101 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_bottled_water_a + dataset_name: pick_up_the_bottled_water_a + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the water bottle and lift it to the center of the view with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-12057 + dataset_size: 153.0MB + statistics: *id002 + dataset_uuid: e56a77d6-dbe5-4d31-a397-61ccb616903c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the water bottle and lift it to the center of the view with right gripper + - Grasp the water bottle and lift it to the center of the view with left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml index 6d727cae63155975767b59d084bf179bdc08a7e9..6674c82a3d9feb4031b5305905856b6200c1807a 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_as.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_bottled_water_as +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_bottled_water_as -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the water bottle and lift it to the center of the view with right gripper -objects: +dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-9753 -dataset_size: 116.6MB -statistics: - total_episodes: 24 - total_frames: 9753 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 24 - fps: 30 -dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the water bottle and lift it to the center of the view with + right gripper sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +89,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 24 + total_frames: 9753 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 24 + fps: 30 +frame_num: 9753 +dataset_size: 116.6MB +data_structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,26 +153,101 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_bottled_water_as + dataset_name: pick_up_the_bottled_water_as + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the water bottle and lift it to the center of the view with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-9753 + dataset_size: 116.6MB + statistics: *id002 + dataset_uuid: a5f8649a-a1ab-415a-9fd4-b48b04fab77e + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the water bottle and lift it to the center of the view with right gripper + - Grasp the water bottle and lift it to the center of the view with left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml index 57a3a581a1aa0dad2c5347cfa56074941cc1874b..2032d1eeab4914f2c5634028dd7821e53b68874a 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bottled_water_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_bottled_water_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_bottled_water_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the water bottle and lift it to the center of the view with right gripper -objects: +dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-10067 -dataset_size: 125.2MB -statistics: - total_episodes: 30 - total_frames: 10067 - total_tasks: 1 - total_videos: 30 - total_chunks: 1 - chunks_size: 31 - fps: 30 -dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the water bottle and lift it to the center of the view with + right gripper sub_tasks: - Grasp the water bottle and lift it to the center of the view with right gripper - Grasp the water bottle and lift it to the center of the view with left gripper - End - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +89,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 30 + total_frames: 10067 + total_tasks: 1 + total_videos: 30 + total_chunks: 1 + chunks_size: 31 + fps: 30 +frame_num: 10067 +dataset_size: 125.2MB +data_structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,26 +153,101 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_bottled_water_b + dataset_name: pick_up_the_bottled_water_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the water bottle and lift it to the center of the view with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-10067 + dataset_size: 125.2MB + statistics: *id002 + dataset_uuid: fed7136f-3c38-4756-81e4-f9e2dd2eaad5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the water bottle and lift it to the center of the view with right gripper + - Grasp the water bottle and lift it to the center of the view with left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml index a3e8eff7a7736fd38351f9e487dad59827be5592..d0e80ddb7f07d3b2305a085ce1b3b8a8254a8a44 100644 --- a/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_bread_az.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pick_up_the_bread_az +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_bread_az -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -64,30 +84,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-14542 -dataset_size: 169.7MB -statistics: - total_episodes: 26 - total_frames: 14542 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 27 - fps: 30 -dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the long bread and lift it to the center of the view with left gripper - Grasp the long bread and lift it to the center of the view with right gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -95,7 +125,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 26 + total_frames: 14542 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 27 + fps: 30 +frame_num: 14542 +dataset_size: 169.7MB +data_structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -104,13 +162,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -128,26 +189,102 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_bread_az + dataset_name: pick_up_the_bread_az + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-14542 + dataset_size: 169.7MB + statistics: *id002 + dataset_uuid: 95b46832-04a8-4073-b033-dbe0d38fe742 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the long bread and lift it to the center of the view with left gripper + - Grasp the long bread and lift it to the center of the view with right gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml index 9ad894264fb5fffa238c98d7ed4a421843fcec7b..d0a915799ee8f30f74fdf9bf6d0c4d9f08a3295d 100644 --- a/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_a.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_lemon_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_lemon_a -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-8915 -dataset_size: 107.6MB -statistics: - total_episodes: 23 - total_frames: 8915 - total_tasks: 1 - total_videos: 23 - total_chunks: 1 - chunks_size: 23 - fps: 30 -dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the lemon and lift it to the center of the view with left gripper - Grasp the lemon and lift it to the center of the view with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 23 + total_frames: 8915 + total_tasks: 1 + total_videos: 23 + total_chunks: 1 + chunks_size: 23 + fps: 30 +frame_num: 8915 +dataset_size: 107.6MB +data_structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_lemon_a + dataset_name: pick_up_the_lemon_a + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-8915 + dataset_size: 107.6MB + statistics: *id002 + dataset_uuid: 4941259a-6f5a-49a6-b04e-e52c4e5759dc + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the lemon and lift it to the center of the view with left gripper + - Grasp the lemon and lift it to the center of the view with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml index 230d0c95b4585973a2eb8fd2d771d502e3d081ab..2d6c15e4ef8e00977462d19f5defc886b0699201 100644 --- a/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_lemon_at.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pick_up_the_lemon_at +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_lemon_at -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-8538 -dataset_size: 84.5MB -statistics: - total_episodes: 26 - total_frames: 8538 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 -dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the lemon and lift it to the center of the view with left gripper - Abnormal - Grasp the lemon and lift it to the center of the view with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 26 + total_frames: 8538 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +frame_num: 8538 +dataset_size: 84.5MB +data_structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,26 +153,102 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_lemon_at + dataset_name: pick_up_the_lemon_at + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-8538 + dataset_size: 84.5MB + statistics: *id002 + dataset_uuid: 9965d331-a329-49c0-ae89-355a299338f1 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the lemon and lift it to the center of the view with left gripper + - Abnormal + - Grasp the lemon and lift it to the center of the view with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_lemon_at_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml index 15bd0a5c43001696fb6d16104e7bba17cda2c58f..ab980c1af243f9ae94e394c844d0f0a4a1bc89fd 100644 --- a/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_tissue_box_ao.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_tissue_box_ao +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_tissue_box_ao -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Grasp the tissue box and lift it to the center of the view with both gripper -objects: +dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,28 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-21166 -dataset_size: 273.8MB -statistics: - total_episodes: 29 - total_frames: 21166 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 -dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the tissue box and lift it to the center of the view with + both gripper sub_tasks: - Grasp the tissue box and lift it to the center of the view with both gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 29 + total_frames: 21166 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +frame_num: 21166 +dataset_size: 273.8MB +data_structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,26 +151,99 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_tissue_box_ao + dataset_name: pick_up_the_tissue_box_ao + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Grasp the tissue box and lift it to the center of the view with both gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-21166 + dataset_size: 273.8MB + statistics: *id002 + dataset_uuid: 3adf4438-1317-4ffb-9447-b4dd516c8559 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the tissue box and lift it to the center of the view with both gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml index d166941d8efb19331b9f4fccae7c17240f27c948..ade1a3d861956ccf0db41edb619ee4b6bb28ec7b 100644 --- a/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml +++ b/dataset_info/G1edu-u3_pick_up_the_toy_ai.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_pick_up_the_toy_ai +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_the_toy_ai -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: End -objects: +dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-3242 -dataset_size: 44.8MB -statistics: - total_episodes: 10 - total_frames: 3242 - total_tasks: 1 - total_videos: 10 - total_chunks: 1 - chunks_size: 10 - fps: 30 -dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the toy bear and lift it to the center of the view with right gripper - Grasp the toy bear and lift it to the center of the view with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 10 + total_frames: 3242 + total_tasks: 1 + total_videos: 10 + total_chunks: 1 + chunks_size: 10 + fps: 30 +frame_num: 3242 +dataset_size: 44.8MB +data_structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pick_up_the_toy_ai + dataset_name: pick_up_the_toy_ai + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-3242 + dataset_size: 44.8MB + statistics: *id002 + dataset_uuid: 804260a5-c07f-432e-9080-8112b837464a + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the toy bear and lift it to the center of the view with right gripper + - Grasp the toy bear and lift it to the center of the view with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_apple_c.yaml b/dataset_info/G1edu-u3_place_apple_c.yaml index ef3c55366994328e0cffb0a5d2f1f67decf231ed..69093cf029d36b458844f8031b7937cf5595840d 100644 --- a/dataset_info/G1edu-u3_place_apple_c.yaml +++ b/dataset_info/G1edu-u3_place_apple_c.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_apple_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_apple_c -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: End -objects: +dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-6567 -dataset_size: 81.6MB -statistics: - total_episodes: 29 - total_frames: 6567 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 30 - fps: 30 -dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the apple on the table with right gripper - Place the apple on the table with left gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 29 + total_frames: 6567 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 +frame_num: 6567 +dataset_size: 81.6MB +data_structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_apple_c + dataset_name: place_apple_c + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-6567 + dataset_size: 81.6MB + statistics: *id002 + dataset_uuid: fadd4ee3-65b3-497e-a817-3885814cab0c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the apple on the table with right gripper + - Place the apple on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" + structure: "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_bottle_c.yaml b/dataset_info/G1edu-u3_place_bottle_c.yaml index 515e97f9523a36b3755ddd06b22f597bfd91bee2..a31aee8b4e6e60371a23a11307d283cc7faafc41 100644 --- a/dataset_info/G1edu-u3_place_bottle_c.yaml +++ b/dataset_info/G1edu-u3_place_bottle_c.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_bottle_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_bottle_c -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: End -objects: +dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-7277 -dataset_size: 92.3MB -statistics: - total_episodes: 29 - total_frames: 7277 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 30 - fps: 30 -dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the water bottle on the table with left gripper - Place the water bottle on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 29 + total_frames: 7277 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 30 + fps: 30 +frame_num: 7277 +dataset_size: 92.3MB +data_structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_bottle_c + dataset_name: place_bottle_c + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-7277 + dataset_size: 92.3MB + statistics: *id002 + dataset_uuid: 5e6d1031-7c1e-4cd5-a371-1682b697fabd + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the water bottle on the table with left gripper + - Place the water bottle on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml index 1b33112cd5a9d4b4810f643dec86731ff43d2483..5ae3fe7e6fba511280e5bc3d9498524ba46e9fbc 100644 --- a/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml +++ b/dataset_info/G1edu-u3_place_metal_bowl_ae.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_metal_bowl_ae +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_metal_bowl_ae -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the metal bowl on the table with left gripper -objects: +dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-7884 -dataset_size: 120.4MB -statistics: - total_episodes: 38 - total_frames: 7884 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 -dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the metal bowl on the table with left gripper sub_tasks: - Place the metal bowl on the table with left gripper - End - Place the metal bowl on the table with right gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 38 + total_frames: 7884 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +frame_num: 7884 +dataset_size: 120.4MB +data_structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_metal_bowl_ae + dataset_name: place_metal_bowl_ae + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the metal bowl on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-7884 + dataset_size: 120.4MB + statistics: *id002 + dataset_uuid: 58ed5982-2a5f-4762-a995-5d590a2beeb4 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the metal bowl on the table with left gripper + - End + - Place the metal bowl on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_metal_bowl_af.yaml b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml index 82180dce0e4ac26279ff40aa68582f0846c205ca..b210e2b2735b86c0a2830de8fe09191b2cdccde6 100644 --- a/dataset_info/G1edu-u3_place_metal_bowl_af.yaml +++ b/dataset_info/G1edu-u3_place_metal_bowl_af.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_metal_bowl_af +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_metal_bowl_af -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the metal bowl on the table with left gripper -objects: +dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-6265 -dataset_size: 95.9MB -statistics: - total_episodes: 38 - total_frames: 6265 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 -dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the metal bowl on the table with left gripper sub_tasks: - Place the metal bowl on the table with left gripper - End - Place the metal bowl on the table with right gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 38 + total_frames: 6265 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +frame_num: 6265 +dataset_size: 95.9MB +data_structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_metal_bowl_af + dataset_name: place_metal_bowl_af + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the metal bowl on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-6265 + dataset_size: 95.9MB + statistics: *id002 + dataset_uuid: 7335e7b9-55d2-417a-ba15-8aeba616ce6e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the metal bowl on the table with left gripper + - End + - Place the metal bowl on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml index e592e9c8d864cb7594471a6647040da9520db37f..bb785a275d954aba9792f6aa0cd5aa452597bad8 100644 --- a/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ag.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_plastic_bowl_ag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_plastic_bowl_ag -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the plastic bowl on the table with right gripper -objects: +dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-7219 -dataset_size: 116.0MB -statistics: - total_episodes: 38 - total_frames: 7219 - total_tasks: 1 - total_videos: 38 - total_chunks: 1 - chunks_size: 39 - fps: 30 -dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the plastic bowl on the table with right gripper sub_tasks: - Place the plastic bowl on the table with right gripper - End - Place the plastic bowl on the table with left gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 38 + total_frames: 7219 + total_tasks: 1 + total_videos: 38 + total_chunks: 1 + chunks_size: 39 + fps: 30 +frame_num: 7219 +dataset_size: 116.0MB +data_structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_plastic_bowl_ag + dataset_name: place_plastic_bowl_ag + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the plastic bowl on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-7219 + dataset_size: 116.0MB + statistics: *id002 + dataset_uuid: 200d19c3-55a3-44fd-830a-10c1b2f63ed7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the plastic bowl on the table with right gripper + - End + - Place the plastic bowl on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml index 9d574931e80930189adc214de14b1bf8f1394959..bdc5592f0150982a825b4b6a65ff4ca5d01ebd1c 100644 --- a/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml +++ b/dataset_info/G1edu-u3_place_plastic_bowl_ah.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_place_plastic_bowl_ah +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_plastic_bowl_ah -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the plastic bowl on the table with right gripper -objects: +dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-5638 -dataset_size: 83.7MB -statistics: - total_episodes: 33 - total_frames: 5638 - total_tasks: 1 - total_videos: 33 - total_chunks: 1 - chunks_size: 34 - fps: 30 -dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the plastic bowl on the table with right gripper sub_tasks: - Place the plastic bowl on the table with right gripper - End - Place the plastic bowl on the table with left gripper - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 33 + total_frames: 5638 + total_tasks: 1 + total_videos: 33 + total_chunks: 1 + chunks_size: 34 + fps: 30 +frame_num: 5638 +dataset_size: 83.7MB +data_structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_place_plastic_bowl_ah + dataset_name: place_plastic_bowl_ah + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the plastic bowl on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-5638 + dataset_size: 83.7MB + statistics: *id002 + dataset_uuid: 7153928d-6c50-4662-91a7-9d48d64e1e5d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the plastic bowl on the table with right gripper + - End + - Place the plastic bowl on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_plate_storage_doll.yaml b/dataset_info/G1edu-u3_plate_storage_doll.yaml index cab9041b3540fae82d9f2d0315a14458022e9eff..b71b1b744b39519cbbba3b09a07e65aa001b8d4e 100644 --- a/dataset_info/G1edu-u3_plate_storage_doll.yaml +++ b/dataset_info/G1edu-u3_plate_storage_doll.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_plate_storage_doll +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage_doll -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Static -objects: +dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-133026 -dataset_size: 3.7GB -statistics: - total_episodes: 388 - total_frames: 133026 - total_tasks: 2 - total_videos: 1164 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Place the pink doll into the plate with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Place the pink doll into the plate with the right gripper - Grasp the pink doll with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 388 + total_frames: 133026 + total_tasks: 2 + total_videos: 1164 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 133026 +dataset_size: 3.7GB +data_structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +135,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,40 +162,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_plate_storage_doll + dataset_name: plate_storage_doll + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-133026 + dataset_size: 3.7GB + statistics: *id002 + dataset_uuid: 45f1baec-34a9-4f8d-bc50-3ef2086cf1a9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Place the pink doll into the plate with the left gripper + - Grasp the pink doll with the right gripper + - End + - Place the pink doll into the plate with the right gripper + - Grasp the pink doll with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.color_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_plate_storage_doll_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.color_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml index 3966a7872d6b0fe9d16e5302d9e2d1933c1f4793..0eba03a2d2f9fd3b35191a68c16d1889fcf0242a 100644 --- a/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml +++ b/dataset_info/G1edu-u3_plate_storage_rabbit_doll.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_plate_storage_rabbit_doll +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage_rabbit_doll -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the rabbit doll into the plate with the left gripper -objects: +dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-76754 -dataset_size: 378.4MB -statistics: - total_episodes: 227 - total_frames: 76754 - total_tasks: 1 - total_videos: 227 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the rabbit doll into the plate with the left gripper sub_tasks: - Place the rabbit doll into the plate with the left gripper - Grasp the rabbit doll with the left gripper @@ -52,7 +59,30 @@ sub_tasks: - Static - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,36 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 227 + total_frames: 76754 + total_tasks: 1 + total_videos: 227 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 76754 +dataset_size: 378.4MB +data_structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +128,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,28 +155,103 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_plate_storage_rabbit_doll + dataset_name: plate_storage_rabbit_doll + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the rabbit doll into the plate with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-76754 + dataset_size: 378.4MB + statistics: *id002 + dataset_uuid: adde8f5b-b32a-49e8-b684-9f89a37ec8e4 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the rabbit doll into the plate with the left gripper + - Grasp the rabbit doll with the left gripper + - End + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.cam_high_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├──\ + \ episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" + structure: "G1edu-u3_plate_storage_rabbit_doll_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.cam_high_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├──\ + \ episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml index b152edb869be03784709b12f20837b38172b702f..475504330eb5b29f5231fda24fa32f9863294306 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_a.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pullBowl_storage_bread_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pullBowl_storage_bread_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-126861 -dataset_size: 2.6GB -statistics: - total_episodes: 178 - total_frames: 126861 - total_tasks: 1 - total_videos: 534 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -54,7 +61,30 @@ sub_tasks: - Place the round bread in pink bowl with left hand - Move the pink bowl to the center of table with right hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 178 + total_frames: 126861 + total_tasks: 1 + total_videos: 534 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 126861 +dataset_size: 2.6GB +data_structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pullBowl_storage_bread_a + dataset_name: pullBowl_storage_bread_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-126861 + dataset_size: 2.6GB + statistics: *id002 + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a52 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Place the long bread in pink bowl with left hand + - End + - Grasp the round bread with left hand + - Grasp the long bread with left hand + - Place the round bread in pink bowl with left hand + - Move the pink bowl to the center of table with right hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml index d80338ee95c70710577184ea6411d5582c528b8c..b1fca9aaf2b8cac0c3cb6d311dc5c8eb1da301c7 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_b.yaml @@ -1,13 +1,35 @@ -path: G1edu-u3_pullBowl_storage_bread_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pullBowl__storage2bread_unordered -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- walk -tasks: Move the pink bowl to the center of table with right hand -objects: +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: chair level1: furniture level2: chair @@ -20,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-162960 -dataset_size: 3.3GB -statistics: - total_episodes: 186 - total_frames: 162960 - total_tasks: 1 - total_videos: 558 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move the pink bowl to the center of table with right hand sub_tasks: - Move the pink bowl to the center of table with right hand - Static @@ -48,7 +57,28 @@ sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand - 'null' -annotations: +atomic_actions: +- walk +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 186 + total_frames: 162960 + total_tasks: 1 + total_videos: 558 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 162960 +dataset_size: 3.3GB +data_structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,40 +157,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pullBowl_storage_bread_b + dataset_name: pullBowl__storage2bread_unordered + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - walk + tasks: Move the pink bowl to the center of table with right hand + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-162960 + dataset_size: 3.3GB + statistics: *id002 + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a48 + language: *id003 + task_categories: *id004 + sub_tasks: + - Move the pink bowl to the center of table with right hand + - Static + - Grasp the round bread with left hand + - End + - Move towards the toy bear on the chair + - Grasp the long bread with left hand + - Place the round bread in pink bowl with left hand + - Abnormal + - Place the long bread in pink bowl with left hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml index bf760f5a6769ea4d0071466d4f54c15d4e1b11c5..dabb9d8bbd8bfd7752b22d530e49e81ef505a093 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_C.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pullBowl_storage_bread_unordered_C +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pullBowl_storage_bread_unordered_C -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the long bread in pink bowl with left hand -objects: +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-110085 -dataset_size: 2.2GB -statistics: - total_episodes: 190 - total_frames: 110085 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the long bread in pink bowl with left hand sub_tasks: - Place the long bread in pink bowl with left hand - End @@ -71,7 +78,30 @@ sub_tasks: - Place the round bread in pink bowl with left hand - Move the pink bowl to the center of table with right hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -79,7 +109,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 190 + total_frames: 110085 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 110085 +dataset_size: 2.2GB +data_structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -88,13 +153,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -112,40 +180,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pullBowl_storage_bread_unordered_C + dataset_name: pullBowl_storage_bread_unordered_C + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the long bread in pink bowl with left hand + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-110085 + dataset_size: 2.2GB + statistics: *id002 + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a51 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the long bread in pink bowl with left hand + - End + - Grasp the round bread with left hand + - Grasp the long bread with left hand + - Place the round bread in pink bowl with left hand + - Move the pink bowl to the center of table with right hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml index 48c0b028a20a979c246a5b306c2fb0433ffdeadb..2d89247771bc588aa73897791f42fd1def620228 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_a.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_pullBowl_storage_bread_unordered_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pullBowl_storage_bread_unordered_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-158699 -dataset_size: 3.3GB -statistics: - total_episodes: 188 - total_frames: 158699 - total_tasks: 1 - total_videos: 564 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -54,7 +61,30 @@ sub_tasks: - Place the round bread in pink bowl with left hand - Move the pink bowl to the center of table with right hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 188 + total_frames: 158699 + total_tasks: 1 + total_videos: 564 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 158699 +dataset_size: 3.3GB +data_structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pullBowl_storage_bread_unordered_a + dataset_name: pullBowl_storage_bread_unordered_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-158699 + dataset_size: 3.3GB + statistics: *id002 + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a49 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Place the long bread in pink bowl with left hand + - End + - Grasp the round bread with left hand + - Grasp the long bread with left hand + - Place the round bread in pink bowl with left hand + - Move the pink bowl to the center of table with right hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml index 0fadc2089817f0469dd5b738b663236665b8595a..67e63e7ad6e7a17895ab23105a2789a510219a16 100644 --- a/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml +++ b/dataset_info/G1edu-u3_pullBowl_storage_bread_unordered_b.yaml @@ -1,16 +1,35 @@ -path: G1edu-u3_pullBowl_storage_bread_unordered_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pullBowl_storage_bread_unordered_b -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- receive -tasks: Abnormal -objects: +dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -47,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-118843 -dataset_size: 2.3GB -statistics: - total_episodes: 190 - total_frames: 118843 - total_tasks: 1 - total_videos: 570 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - Place the long bread in pink bowl with left hand @@ -73,7 +79,31 @@ sub_tasks: - Place the round bread in pink bowl with left hand - Move the pink bowl to the center of table with right hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- receive +robot_name: G1edu-u3 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -81,7 +111,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 190 + total_frames: 118843 + total_tasks: 1 + total_videos: 570 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 118843 +dataset_size: 2.3GB +data_structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -90,13 +155,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -114,40 +182,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_pullBowl_storage_bread_unordered_b + dataset_name: pullBowl_storage_bread_unordered_b + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - receive + tasks: Abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-118843 + dataset_size: 2.3GB + statistics: *id002 + dataset_uuid: 11ed8a7f-106a-4c08-98a4-0abdd1b97a50 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - Place the long bread in pink bowl with left hand + - End + - Grasp the round bread with left hand + - Grasp the long bread with left hand + - Place the round bread in pink bowl with left hand + - Move the pink bowl to the center of table with right hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_left_high/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_put_the_bread_aw.yaml b/dataset_info/G1edu-u3_put_the_bread_aw.yaml index 92e6f82aad76e4b1c5c811ad94966af4d2259538..855eb949fd21664f05605103f864c131e7091742 100644 --- a/dataset_info/G1edu-u3_put_the_bread_aw.yaml +++ b/dataset_info/G1edu-u3_put_the_bread_aw.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_bread_aw +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_bread_aw -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: Place the long bread on the table with left gripper -objects: +dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-5153 -dataset_size: 65.2MB -statistics: - total_episodes: 26 - total_frames: 5153 - total_tasks: 1 - total_videos: 26 - total_chunks: 1 - chunks_size: 26 - fps: 30 -dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the long bread on the table with left gripper sub_tasks: - Place the long bread on the table with left gripper - End - Place the long bread on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 26 + total_frames: 5153 + total_tasks: 1 + total_videos: 26 + total_chunks: 1 + chunks_size: 26 + fps: 30 +frame_num: 5153 +dataset_size: 65.2MB +data_structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_bread_aw + dataset_name: put_the_bread_aw + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: Place the long bread on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-5153 + dataset_size: 65.2MB + statistics: *id002 + dataset_uuid: e6db4b80-8fbb-4767-b613-734d0e088946 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the long bread on the table with left gripper + - End + - Place the long bread on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_cup_b.yaml b/dataset_info/G1edu-u3_put_the_cup_b.yaml index c5443d4e732be9c88bad23991de270902587e209..453c28a4cba38e7773ba56dc9a9d8787f2346ab0 100644 --- a/dataset_info/G1edu-u3_put_the_cup_b.yaml +++ b/dataset_info/G1edu-u3_put_the_cup_b.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_cup_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_cup_b -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: End -objects: +dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-6447 -dataset_size: 73.7MB -statistics: - total_episodes: 29 - total_frames: 6447 - total_tasks: 1 - total_videos: 29 - total_chunks: 1 - chunks_size: 29 - fps: 30 -dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the paper cup on the table with right gripper - Place the paper cup on the table with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 29 + total_frames: 6447 + total_tasks: 1 + total_videos: 29 + total_chunks: 1 + chunks_size: 29 + fps: 30 +frame_num: 6447 +dataset_size: 73.7MB +data_structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_cup_b + dataset_name: put_the_cup_b + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-6447 + dataset_size: 73.7MB + statistics: *id002 + dataset_uuid: c8b2edb4-b19b-4458-adfc-799a5e6f2065 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the paper cup on the table with right gripper + - Place the paper cup on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" + structure: "G1edu-u3_put_the_cup_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_lemon_af.yaml b/dataset_info/G1edu-u3_put_the_lemon_af.yaml index 9dec8f9c3d47484c8ae4a53e2d8b5de49e9b153e..8ab9ccc5fea298053e5ae095a39f37f98fb3b130 100644 --- a/dataset_info/G1edu-u3_put_the_lemon_af.yaml +++ b/dataset_info/G1edu-u3_put_the_lemon_af.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_lemon_af +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_lemon_af -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: End -objects: +dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-3544 -dataset_size: 37.1MB -statistics: - total_episodes: 19 - total_frames: 3544 - total_tasks: 1 - total_videos: 19 - total_chunks: 1 - chunks_size: 19 - fps: 30 -dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the lemon on the table with right gripper - Place the lemon on the table with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 19 + total_frames: 3544 + total_tasks: 1 + total_videos: 19 + total_chunks: 1 + chunks_size: 19 + fps: 30 +frame_num: 3544 +dataset_size: 37.1MB +data_structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_lemon_af + dataset_name: put_the_lemon_af + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-3544 + dataset_size: 37.1MB + statistics: *id002 + dataset_uuid: c37586ed-bc01-40b2-9038-cd26ce06df5b + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the lemon on the table with right gripper + - Place the lemon on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml index 54923e9aa968c3af0dcd7ab25460c04f4e6c7722..b80a9853a0b52c72e43441d69bc7d22f2082d235 100644 --- a/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml +++ b/dataset_info/G1edu-u3_put_the_lemon_on_the_plate_ah.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_lemon_on_the_plate_ah +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_lemon_on_the_plate_ah -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: Place the lemon on the orange plate with right gripper -objects: +dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,28 +48,37 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-1961 -dataset_size: 20.4MB -statistics: - total_episodes: 9 - total_frames: 1961 - total_tasks: 1 - total_videos: 9 - total_chunks: 1 - chunks_size: 9 - fps: 30 -dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the lemon on the orange plate with right gripper sub_tasks: - Place the lemon on the orange plate with right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 9 + total_frames: 1961 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 9 + fps: 30 +frame_num: 1961 +dataset_size: 20.4MB +data_structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,26 +150,99 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_lemon_on_the_plate_ah + dataset_name: put_the_lemon_on_the_plate_ah + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: Place the lemon on the orange plate with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-1961 + dataset_size: 20.4MB + statistics: *id002 + dataset_uuid: 7f32d00d-3005-45c1-90cb-9a16b5e64034 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the lemon on the orange plate with right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml index 0d8b90148e2e6d9f49ed6c091d504348031d0d8d..2b382b0dd70a01fdb63ee0db6e008a02bb2e0ec6 100644 --- a/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml +++ b/dataset_info/G1edu-u3_put_the_tissue_box_al.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_tissue_box_al +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_tissue_box_al -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: End -objects: +dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,28 +48,37 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-10816 -dataset_size: 142.3MB -statistics: - total_episodes: 39 - total_frames: 10816 - total_tasks: 1 - total_videos: 39 - total_chunks: 1 - chunks_size: 41 - fps: 30 -dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the tissue box on the table with both gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 39 + total_frames: 10816 + total_tasks: 1 + total_videos: 39 + total_chunks: 1 + chunks_size: 41 + fps: 30 +frame_num: 10816 +dataset_size: 142.3MB +data_structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,26 +150,99 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_tissue_box_al + dataset_name: put_the_tissue_box_al + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-10816 + dataset_size: 142.3MB + statistics: *id002 + dataset_uuid: 39aeb43d-8473-408d-a61d-bdd24134ab9a + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the tissue box on the table with both gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/G1edu-u3_put_the_toy_ap.yaml b/dataset_info/G1edu-u3_put_the_toy_ap.yaml index 40dedd23f919c0ff096c0b7f80382a8e80ffb988..1ead6b0220ef944754957d948ef2ab61bbde7819 100644 --- a/dataset_info/G1edu-u3_put_the_toy_ap.yaml +++ b/dataset_info/G1edu-u3_put_the_toy_ap.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_toy_ap +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_toy_ap -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: Place the toy bear on the table with left gripper -objects: +dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-2242 -dataset_size: 32.1MB -statistics: - total_episodes: 9 - total_frames: 2242 - total_tasks: 1 - total_videos: 9 - total_chunks: 1 - chunks_size: 10 - fps: 30 -dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the toy bear on the table with left gripper sub_tasks: - Place the toy bear on the table with left gripper - End - Place the toy bear on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 9 + total_frames: 2242 + total_tasks: 1 + total_videos: 9 + total_chunks: 1 + chunks_size: 10 + fps: 30 +frame_num: 2242 +dataset_size: 32.1MB +data_structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +118,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,26 +145,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_toy_ap + dataset_name: put_the_toy_ap + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: Place the toy bear on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-2242 + dataset_size: 32.1MB + statistics: *id002 + dataset_uuid: 925411a9-6e40-405a-a2fc-f09d64a8d75a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the toy bear on the table with left gripper + - End + - Place the toy bear on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_toy_ap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml index d1bde3df7249a4d20bc0866b066af1b7796d0de6..d351058ad5af3f687c3527480498122877e33ae7 100644 --- a/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml +++ b/dataset_info/G1edu-u3_put_the_water_bottle_aq.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_water_bottle_aq +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_water_bottle_aq -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: End -objects: +dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-5861 -dataset_size: 73.1MB -statistics: - total_episodes: 21 - total_frames: 5861 - total_tasks: 1 - total_videos: 21 - total_chunks: 1 - chunks_size: 24 - fps: 30 -dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the water bottle on the table with left gripper - Place the water bottle on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 21 + total_frames: 5861 + total_tasks: 1 + total_videos: 21 + total_chunks: 1 + chunks_size: 24 + fps: 30 +frame_num: 5861 +dataset_size: 73.1MB +data_structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,26 +151,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_water_bottle_aq + dataset_name: put_the_water_bottle_aq + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-5861 + dataset_size: 73.1MB + statistics: *id002 + dataset_uuid: 09897bd8-675b-4f42-892f-cc674883e61f + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the water bottle on the table with left gripper + - Place the water bottle on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml index 348e31ffbce23a59abba0a038ad186bafef4ea0a..7bc30f64b4fbc9f651ddddb4d71ab0af8403bd6a 100644 --- a/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml +++ b/dataset_info/G1edu-u3_put_the_water_bottle_on_the_table_d.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_put_the_water_bottle_on_the_table_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_water_bottle_on_the_table_d -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- place -tasks: Place the water bottle on the table with left gripper -objects: +dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-6580 -dataset_size: 82.6MB -statistics: - total_episodes: 32 - total_frames: 6580 - total_tasks: 1 - total_videos: 32 - total_chunks: 1 - chunks_size: 32 - fps: 30 -dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the water bottle on the table with left gripper sub_tasks: - Place the water bottle on the table with left gripper - End - Place the water bottle on the table with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 32 + total_frames: 6580 + total_tasks: 1 + total_videos: 32 + total_chunks: 1 + chunks_size: 32 + fps: 30 +frame_num: 6580 +dataset_size: 82.6MB +data_structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,26 +151,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_put_the_water_bottle_on_the_table_d + dataset_name: put_the_water_bottle_on_the_table_d + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - place + tasks: Place the water bottle on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-6580 + dataset_size: 82.6MB + statistics: *id002 + dataset_uuid: 7f724d35-f01a-4eaa-a398-60449a270f33 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the water bottle on the table with left gripper + - End + - Place the water bottle on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_put_the_water_bottle_on_the_table_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/G1edu-u3_stack_bowls.yaml b/dataset_info/G1edu-u3_stack_bowls.yaml index 7527a77a0f2040fa2f2099ca30c2e6f4248df1aa..e788e87f574d258ba8c8b9e0f9c35c3e7f1b5ea8 100644 --- a/dataset_info/G1edu-u3_stack_bowls.yaml +++ b/dataset_info/G1edu-u3_stack_bowls.yaml @@ -1,15 +1,35 @@ -path: G1edu-u3_stack_bowls +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stack_bowls -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the bowl on the right onto the bowl in the middle with right gripper -objects: +dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-166122 -dataset_size: 7.0GB -statistics: - total_episodes: 261 - total_frames: 166122 - total_tasks: 2 - total_videos: 783 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the bowl on the right onto the bowl in the middle with right + gripper sub_tasks: - Place the bowl on the right onto the bowl in the middle with right gripper - Grasp the bowl on the right with the right gripper @@ -48,7 +56,30 @@ sub_tasks: - Abnormal - Place the bowl on the left onto the bowl in the middle with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +87,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 261 + total_frames: 166122 + total_tasks: 2 + total_videos: 783 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 166122 +dataset_size: 7.0GB +data_structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,38 +157,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_stack_bowls + dataset_name: stack_bowls + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the bowl on the right onto the bowl in the middle with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-166122 + dataset_size: 7.0GB + statistics: *id002 + dataset_uuid: d27ed137-4947-4948-b818-a02094cab254 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the bowl on the right onto the bowl in the middle with right gripper + - Grasp the bowl on the right with the right gripper + - Grasp the bowl on the left with the left gripper + - End + - Static + - Abnormal + - Place the bowl on the left onto the bowl in the middle with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.color_right_wrist/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" + structure: "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.color_right_wrist/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml index 145e5797ae6b79b0eda9a479188ccdfd44f5ef78..9676f24952cc660f26dc00c7537f3a387fc8ce84 100644 --- a/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml +++ b/dataset_info/G1edu-u3_tray_storage_lemon_a.yaml @@ -1,14 +1,35 @@ -path: G1edu-u3_tray_storage_lemon_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tray_storage_lemon_a -robot_type: '' -end_effector_type: -- three_finger_hand -scene_type: [] -atomic_actions: -- pick -- place -tasks: Place the lemon on the blue plate with left gripper -objects: +dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-2298 -dataset_size: 27.2MB -statistics: - total_episodes: 13 - total_frames: 2298 - total_tasks: 1 - total_videos: 13 - total_chunks: 1 - chunks_size: 13 - fps: 30 -dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the lemon on the blue plate with left gripper sub_tasks: - Place the lemon on the blue plate with left gripper - Place the lemon on the blue plate with right gripper - End - 'null' -annotations: +atomic_actions: +- pick +- place +robot_name: G1edu-u3 +end_effector_type: three_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,35 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 13 + total_frames: 2298 + total_tasks: 1 + total_videos: 13 + total_chunks: 1 + chunks_size: 13 + fps: 30 +frame_num: 2298 +dataset_size: 27.2MB +data_structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ + \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +124,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,26 +151,100 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" -structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ └── observation.images.ego_view/\n ├── episode_000000.mp4\n \ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├──\ - \ episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: G1edu-u3_tray_storage_lemon_a + dataset_name: tray_storage_lemon_a + robot_type: '' + end_effector_type: + - three_finger_hand + scene_type: [] + atomic_actions: + - pick + - place + tasks: Place the lemon on the blue plate with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-2298 + dataset_size: 27.2MB + statistics: *id002 + dataset_uuid: 50af80c8-eb74-4dec-9689-8bea0af5a8c2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the lemon on the blue plate with left gripper + - Place the lemon on the blue plate with right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" + structure: "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n └── observation.images.ego_view/\n ├──\ + \ episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n\ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n \ + \ └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml b/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml index bffef7ec2b65a30a809199d679df30c184169d96..a8be867016bd7cb27c97e31ed9583bac03720b14 100644 --- a/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml +++ b/dataset_info/Galaxea_R1_Lite_arrange_baai_then_brain.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: early_education_toys level1: buiding_blocks level2: early_education_toys @@ -39,45 +39,35 @@ objects: level5:operation_platform_height: 77.2 task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the gripper to find blocks with the letters b, a, a, and i on the table and - arrange them into BAAI, then find r and N and turn the arranged baai into brian. +task_result: 'null' +task_instruction: use the gripper to find blocks with the letters b, a, a, and i on + the table and arrange them into BAAI, then find r and N and turn the arranged baai + into brian. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Place the second block A in the third location - subtask_index: 1 -- subtask: Place the block I in the fourth location - subtask_index: 2 -- subtask: Place the first block A in the second location - subtask_index: 3 -- subtask: Place the block B in the first location - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Move the block A out of the second location - subtask_index: 6 -- subtask: Place the block N in the fifth location - subtask_index: 7 -- subtask: Place the block R in the second location - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Abnormal +- Place the second block A in the third location +- Place the block I in the fourth location +- Place the first block A in the second location +- Place the block B in the first location +- End +- Move the block A out of the second location +- Place the block N in the fifth location +- Place the block R in the second location +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -88,10 +78,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 56 total_frames: 44471 fps: 30 @@ -186,9 +180,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_qced_ha |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:55 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -456,7 +452,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -464,6 +460,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -490,6 +487,200 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_arrange_baai_then_brain + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: eduction + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the gripper to find blocks with the letters b, a, a, and i on the table and + arrange them into BAAI, then find r and N and turn the arranged baai into brian. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Place the second block A in the third location + subtask_index: 1 + - subtask: Place the block I in the fourth location + subtask_index: 2 + - subtask: Place the first block A in the second location + subtask_index: 3 + - subtask: Place the block B in the first location + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Move the block A out of the second location + subtask_index: 6 + - subtask: Place the block N in the fifth location + subtask_index: 7 + - subtask: Place the block R in the second location + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 44471 + dataset_size: 1.26 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (44 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml b/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml index e67ba04bfcba7d54ba1117b3b1b64db593a0d383..99f58dcac5861390fb57720b4ccbe74d8869fc2d 100644 --- a/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml +++ b/dataset_info/Galaxea_R1_Lite_change_baai_into_brain.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: buiding_blocks level1: toys level2: buiding_blocks @@ -39,34 +39,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- rearrange the word baai as brain. +task_result: 'null' +task_instruction: rearrange the word baai as brain. sub_tasks: -- subtask: Disassemble the second character A - subtask_index: 0 -- subtask: Place the character R between first character B and third character A - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the character N after character I - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Disassemble the second character A +- Place the character R between first character B and third character A +- End +- Place the character N after character I +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -77,10 +71,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -88,7 +85,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 67 total_frames: 83804 fps: 30 @@ -175,9 +173,11 @@ data_structure: 'Galaxea_R1_Lite_change_baai_into_brain_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:66 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -445,7 +445,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -453,6 +453,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -479,6 +480,189 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_change_baai_into_brain + dataset_uuid: 75dad2ee-672e-402a-823a-198e5e42af62 + scene_type: + level1: eduction + level2: school + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - rearrange the word baai as brain. + sub_tasks: + - subtask: Disassemble the second character A + subtask_index: 0 + - subtask: Place the character R between first character B and third character A + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the character N after character I + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 83804 + dataset_size: 3.61 GB + data_structure: 'Galaxea_R1_Lite_change_baai_into_brain_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (55 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml index 3c6fee8915cfb0605e76d727a4e1eda050a20468..4a50c818af015e0696c055ff5fd7009c1e982e9b 100644 --- a/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml +++ b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: baskets level2: brown_basket @@ -69,141 +69,82 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the food in the right basket with the right gripper, and place the non food - items in the left basket with the left gripper. +task_result: 'null' +task_instruction: place the food in the right basket with the right gripper, and place + the non food items in the left basket with the left gripper. sub_tasks: -- subtask: Grasp the rubiks cube and put it in the left basket - subtask_index: 0 -- subtask: Grasp the waffle and put it in the right basket - subtask_index: 1 -- subtask: Grasp the soft cleanser and put it in the left basket - subtask_index: 2 -- subtask: Grasp the back scratcher and put it in the left basket - subtask_index: 3 -- subtask: Grasp the apple and put it in the right basket - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Grasp the white eraser and put it in the left basket - subtask_index: 6 -- subtask: Grasp the square chewing gum and put it in the right basket - subtask_index: 7 -- subtask: Grasp the power strip and put it in the left basket - subtask_index: 8 -- subtask: Grasp the cleaning agent and put it in the left basket - subtask_index: 9 -- subtask: Grasp the soda water and put it in the right basket - subtask_index: 10 -- subtask: Grasp the spoon and put it in the left basket - subtask_index: 11 -- subtask: Grasp the duck toys and put it in the left basket - subtask_index: 12 -- subtask: Grasp the triangle cake and put it in the right basket - subtask_index: 13 -- subtask: Grasp the compass and put it in the right basket - subtask_index: 14 -- subtask: Grasp the cookie and put it in the right basket - subtask_index: 15 -- subtask: Grasp the compass and put it in the left basket - subtask_index: 16 -- subtask: Grasp the orange and put it in the right basket - subtask_index: 17 -- subtask: Grasp the ballpoint pen and put it in the left basket - subtask_index: 18 -- subtask: Grasp the round bread and put it in the right basket - subtask_index: 19 -- subtask: Grasp the egg yolk pastry and put it in the right basket - subtask_index: 20 -- subtask: Grasp the lemon and put it in the right basket - subtask_index: 21 -- subtask: Grasp the soap and put it in the left basket - subtask_index: 22 -- subtask: Grasp the washing liquid and put it in the left basket - subtask_index: 23 -- subtask: Grasp the hard cleanser and put it in the left basket - subtask_index: 24 -- subtask: Grasp the milk and put it in the right basket - subtask_index: 25 -- subtask: Grasp the black marker and put it in the left basket - subtask_index: 26 -- subtask: Grasp the banana and put it in the right basket - subtask_index: 27 -- subtask: Grasp the black glass cup and put it in the left basket - subtask_index: 28 -- subtask: Grasp the brush and put it in the left basket - subtask_index: 29 -- subtask: Grasp the bath ball and put it in the left basket - subtask_index: 30 -- subtask: Grasp the blue towel and put it in the left basket - subtask_index: 31 -- subtask: Grasp the tea cup and put it in the left basket - subtask_index: 32 -- subtask: Grasp the peeler and put it in the left basket - subtask_index: 33 -- subtask: Grasp the brown towel and put it in the left basket - subtask_index: 34 -- subtask: Grasp the peach and put it in the right basket - subtask_index: 35 -- subtask: Abnormal - subtask_index: 36 -- subtask: Grasp the chocolate and put it in the right basket - subtask_index: 37 -- subtask: Grasp the grey towel and put it in the left basket - subtask_index: 38 -- subtask: Grasp the canned cola and put it in the right basket - subtask_index: 39 -- subtask: Grasp the tape and put it in the left basket - subtask_index: 40 -- subtask: Grasp the bread slice and put it in the right basket - subtask_index: 41 -- subtask: Grasp the tin and put it in the right basket - subtask_index: 42 -- subtask: Grasp the soap and put it in the right basket - subtask_index: 43 -- subtask: Grasp the glasses case and put it in the left basket - subtask_index: 44 -- subtask: Grasp the yellow duck and put it in the right basket - subtask_index: 45 -- subtask: Grasp the peach doll and put it in the right basket - subtask_index: 46 -- subtask: Grasp the blue cup and put it in the left basket - subtask_index: 47 -- subtask: Grasp the pen container and put it in the left basket - subtask_index: 48 -- subtask: Grasp the red duck and put it in the left basket - subtask_index: 49 -- subtask: Grasp the lime and put it in the right basket - subtask_index: 50 -- subtask: Grasp the long bread and put it in the right basket - subtask_index: 51 -- subtask: Grasp the yogurt and put it in the right basket - subtask_index: 52 -- subtask: Grasp the potato chips and put it in the right basket - subtask_index: 53 -- subtask: Grasp the can and put it in the right basket - subtask_index: 54 -- subtask: Grasp the ad milk and put it in the right basket - subtask_index: 55 -- subtask: Grasp the blue marker and put it in the left basket - subtask_index: 56 -- subtask: 'null' - subtask_index: 57 +- Grasp the rubiks cube and put it in the left basket +- Grasp the waffle and put it in the right basket +- Grasp the soft cleanser and put it in the left basket +- Grasp the back scratcher and put it in the left basket +- Grasp the apple and put it in the right basket +- End +- Grasp the white eraser and put it in the left basket +- Grasp the square chewing gum and put it in the right basket +- Grasp the power strip and put it in the left basket +- Grasp the cleaning agent and put it in the left basket +- Grasp the soda water and put it in the right basket +- Grasp the spoon and put it in the left basket +- Grasp the duck toys and put it in the left basket +- Grasp the triangle cake and put it in the right basket +- Grasp the compass and put it in the right basket +- Grasp the cookie and put it in the right basket +- Grasp the compass and put it in the left basket +- Grasp the orange and put it in the right basket +- Grasp the ballpoint pen and put it in the left basket +- Grasp the round bread and put it in the right basket +- Grasp the egg yolk pastry and put it in the right basket +- Grasp the lemon and put it in the right basket +- Grasp the soap and put it in the left basket +- Grasp the washing liquid and put it in the left basket +- Grasp the hard cleanser and put it in the left basket +- Grasp the milk and put it in the right basket +- Grasp the black marker and put it in the left basket +- Grasp the banana and put it in the right basket +- Grasp the black glass cup and put it in the left basket +- Grasp the brush and put it in the left basket +- Grasp the bath ball and put it in the left basket +- Grasp the blue towel and put it in the left basket +- Grasp the tea cup and put it in the left basket +- Grasp the peeler and put it in the left basket +- Grasp the brown towel and put it in the left basket +- Grasp the peach and put it in the right basket +- Abnormal +- Grasp the chocolate and put it in the right basket +- Grasp the grey towel and put it in the left basket +- Grasp the canned cola and put it in the right basket +- Grasp the tape and put it in the left basket +- Grasp the bread slice and put it in the right basket +- Grasp the tin and put it in the right basket +- Grasp the soap and put it in the right basket +- Grasp the glasses case and put it in the left basket +- Grasp the yellow duck and put it in the right basket +- Grasp the peach doll and put it in the right basket +- Grasp the blue cup and put it in the left basket +- Grasp the pen container and put it in the left basket +- Grasp the red duck and put it in the left basket +- Grasp the lime and put it in the right basket +- Grasp the long bread and put it in the right basket +- Grasp the yogurt and put it in the right basket +- Grasp the potato chips and put it in the right basket +- Grasp the can and put it in the right basket +- Grasp the ad milk and put it in the right basket +- Grasp the blue marker and put it in the left basket +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -214,10 +155,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -225,7 +169,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 195 total_frames: 160875 fps: 30 @@ -312,9 +257,11 @@ data_structure: 'Galaxea_R1_Lite_classify_object_five_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:194 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -582,7 +529,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -590,6 +537,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -616,6 +564,296 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_classify_object_five + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the food in the right basket with the right gripper, and place the non food + items in the left basket with the left gripper. + sub_tasks: + - subtask: Grasp the rubiks cube and put it in the left basket + subtask_index: 0 + - subtask: Grasp the waffle and put it in the right basket + subtask_index: 1 + - subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 2 + - subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 3 + - subtask: Grasp the apple and put it in the right basket + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Grasp the white eraser and put it in the left basket + subtask_index: 6 + - subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 7 + - subtask: Grasp the power strip and put it in the left basket + subtask_index: 8 + - subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 9 + - subtask: Grasp the soda water and put it in the right basket + subtask_index: 10 + - subtask: Grasp the spoon and put it in the left basket + subtask_index: 11 + - subtask: Grasp the duck toys and put it in the left basket + subtask_index: 12 + - subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 13 + - subtask: Grasp the compass and put it in the right basket + subtask_index: 14 + - subtask: Grasp the cookie and put it in the right basket + subtask_index: 15 + - subtask: Grasp the compass and put it in the left basket + subtask_index: 16 + - subtask: Grasp the orange and put it in the right basket + subtask_index: 17 + - subtask: Grasp the ballpoint pen and put it in the left basket + subtask_index: 18 + - subtask: Grasp the round bread and put it in the right basket + subtask_index: 19 + - subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 20 + - subtask: Grasp the lemon and put it in the right basket + subtask_index: 21 + - subtask: Grasp the soap and put it in the left basket + subtask_index: 22 + - subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 23 + - subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 24 + - subtask: Grasp the milk and put it in the right basket + subtask_index: 25 + - subtask: Grasp the black marker and put it in the left basket + subtask_index: 26 + - subtask: Grasp the banana and put it in the right basket + subtask_index: 27 + - subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 28 + - subtask: Grasp the brush and put it in the left basket + subtask_index: 29 + - subtask: Grasp the bath ball and put it in the left basket + subtask_index: 30 + - subtask: Grasp the blue towel and put it in the left basket + subtask_index: 31 + - subtask: Grasp the tea cup and put it in the left basket + subtask_index: 32 + - subtask: Grasp the peeler and put it in the left basket + subtask_index: 33 + - subtask: Grasp the brown towel and put it in the left basket + subtask_index: 34 + - subtask: Grasp the peach and put it in the right basket + subtask_index: 35 + - subtask: Abnormal + subtask_index: 36 + - subtask: Grasp the chocolate and put it in the right basket + subtask_index: 37 + - subtask: Grasp the grey towel and put it in the left basket + subtask_index: 38 + - subtask: Grasp the canned cola and put it in the right basket + subtask_index: 39 + - subtask: Grasp the tape and put it in the left basket + subtask_index: 40 + - subtask: Grasp the bread slice and put it in the right basket + subtask_index: 41 + - subtask: Grasp the tin and put it in the right basket + subtask_index: 42 + - subtask: Grasp the soap and put it in the right basket + subtask_index: 43 + - subtask: Grasp the glasses case and put it in the left basket + subtask_index: 44 + - subtask: Grasp the yellow duck and put it in the right basket + subtask_index: 45 + - subtask: Grasp the peach doll and put it in the right basket + subtask_index: 46 + - subtask: Grasp the blue cup and put it in the left basket + subtask_index: 47 + - subtask: Grasp the pen container and put it in the left basket + subtask_index: 48 + - subtask: Grasp the red duck and put it in the left basket + subtask_index: 49 + - subtask: Grasp the lime and put it in the right basket + subtask_index: 50 + - subtask: Grasp the long bread and put it in the right basket + subtask_index: 51 + - subtask: Grasp the yogurt and put it in the right basket + subtask_index: 52 + - subtask: Grasp the potato chips and put it in the right basket + subtask_index: 53 + - subtask: Grasp the can and put it in the right basket + subtask_index: 54 + - subtask: Grasp the ad milk and put it in the right basket + subtask_index: 55 + - subtask: Grasp the blue marker and put it in the left basket + subtask_index: 56 + - subtask: 'null' + subtask_index: 57 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 160875 + dataset_size: 8.91 GB + data_structure: 'Galaxea_R1_Lite_classify_object_five_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (183 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml index 7758a0200ac187c652f88c7bdbd34b98db8366ff..eff492aaa2180f571b50b6dfbaef88ffc2836426 100644 --- a/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml +++ b/dataset_info/Galaxea_R1_Lite_classify_object_four.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: baskets level2: brown_basket @@ -69,159 +69,91 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the food in the right basket with the right gripper, and place the non food - items in the left basket with the left gripper. +task_result: 'null' +task_instruction: place the food in the right basket with the right gripper, and place + the non food items in the left basket with the left gripper. sub_tasks: -- subtask: Grasp the potato chips and put it in the left basket - subtask_index: 0 -- subtask: Grasp the mineral water and put it in the right basket - subtask_index: 1 -- subtask: Grasp the rubiks cube and put it in the left basket - subtask_index: 2 -- subtask: Grasp the waffle and put it in the right basket - subtask_index: 3 -- subtask: Grasp the soft cleanser and put it in the left basket - subtask_index: 4 -- subtask: Grasp the back scratcher and put it in the left basket - subtask_index: 5 -- subtask: Grasp the apple and put it in the right basket - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: Grasp the white eraser and put it in the left basket - subtask_index: 8 -- subtask: Grasp the square chewing gum and put it in the right basket - subtask_index: 9 -- subtask: Grasp the power strip and put it in the left basket - subtask_index: 10 -- subtask: Grasp the green lemon and put it in the right basket - subtask_index: 11 -- subtask: Grasp the coke and put it in the right basket - subtask_index: 12 -- subtask: Grasp the cleaning agent and put it in the left basket - subtask_index: 13 -- subtask: Grasp the soda water and put it in the right basket - subtask_index: 14 -- subtask: Grasp the spoon and put it in the left basket - subtask_index: 15 -- subtask: Grasp the duck toys and put it in the left basket - subtask_index: 16 -- subtask: Grasp the triangle cake and put it in the right basket - subtask_index: 17 -- subtask: Grasp the cookie and put it in the right basket - subtask_index: 18 -- subtask: Grasp the yellow cake and put it in the right basket - subtask_index: 19 -- subtask: Grasp the shower sphere and put it in the left basket - subtask_index: 20 -- subtask: Grasp the compass and put it in the left basket - subtask_index: 21 -- subtask: Grasp the orange and put it in the right basket - subtask_index: 22 -- subtask: Grasp the broom and put it in the left basket - subtask_index: 23 -- subtask: Grasp the back scratcher and put it in the right basket - subtask_index: 24 -- subtask: Grasp the ballpoint pen and put it in the left basket - subtask_index: 25 -- subtask: Grasp the round bread and put it in the right basket - subtask_index: 26 -- subtask: Grasp the egg yolk pastry and put it in the right basket - subtask_index: 27 -- subtask: Grasp the soap and put it in the left basket - subtask_index: 28 -- subtask: Grasp the washing liquid and put it in the left basket - subtask_index: 29 -- subtask: Grasp the hard cleanser and put it in the left basket - subtask_index: 30 -- subtask: Grasp the milk and put it in the right basket - subtask_index: 31 -- subtask: Grasp the black marker and put it in the left basket - subtask_index: 32 -- subtask: Grasp the banana and put it in the right basket - subtask_index: 33 -- subtask: Grasp the can and put it in the left basket - subtask_index: 34 -- subtask: Grasp the black glass cup and put it in the left basket - subtask_index: 35 -- subtask: Grasp the brush and put it in the left basket - subtask_index: 36 -- subtask: Grasp the bath ball and put it in the left basket - subtask_index: 37 -- subtask: Grasp the blue towel and put it in the left basket - subtask_index: 38 -- subtask: Grasp the peeler and put it in the left basket - subtask_index: 39 -- subtask: Grasp the brown towel and put it in the left basket - subtask_index: 40 -- subtask: Grasp the peach and put it in the right basket - subtask_index: 41 -- subtask: Grasp the tea cup and put it in the left basket - subtask_index: 42 -- subtask: Grasp the round bread and put it in the left basket - subtask_index: 43 -- subtask: Grasp the chocolate and put it in the right basket - subtask_index: 44 -- subtask: Grasp the grey towel and put it in the left basket - subtask_index: 45 -- subtask: Grasp the canned cola and put it in the right basket - subtask_index: 46 -- subtask: Grasp the tape and put it in the left basket - subtask_index: 47 -- subtask: Grasp the bread slice and put it in the right basket - subtask_index: 48 -- subtask: Grasp the glasses case and put it in the left basket - subtask_index: 49 -- subtask: Grasp the triangle cake and put it in the left basket - subtask_index: 50 -- subtask: Grasp the peach doll and put it in the right basket - subtask_index: 51 -- subtask: Grasp the blue cup and put it in the left basket - subtask_index: 52 -- subtask: Grasp the pen container and put it in the left basket - subtask_index: 53 -- subtask: Grasp the red duck and put it in the left basket - subtask_index: 54 -- subtask: Grasp the long bread and put it in the right basket - subtask_index: 55 -- subtask: Grasp the yogurt and put it in the right basket - subtask_index: 56 -- subtask: Grasp the potato chips and put it in the right basket - subtask_index: 57 -- subtask: Grasp the can and put it in the right basket - subtask_index: 58 -- subtask: Grasp the egg beater and put it in the right basket - subtask_index: 59 -- subtask: Place the cookie in the center of the table - subtask_index: 60 -- subtask: Grasp the square chewing gum and put it in the left basket - subtask_index: 61 -- subtask: Grasp the ad milk and put it in the right basket - subtask_index: 62 -- subtask: Grasp the detergent and put it in the left basket - subtask_index: 63 -- subtask: Grasp the yellow duck and put it in the left basket - subtask_index: 64 -- subtask: Grasp the blue marker and put it in the left basket - subtask_index: 65 -- subtask: 'null' - subtask_index: 66 +- Grasp the potato chips and put it in the left basket +- Grasp the mineral water and put it in the right basket +- Grasp the rubiks cube and put it in the left basket +- Grasp the waffle and put it in the right basket +- Grasp the soft cleanser and put it in the left basket +- Grasp the back scratcher and put it in the left basket +- Grasp the apple and put it in the right basket +- End +- Grasp the white eraser and put it in the left basket +- Grasp the square chewing gum and put it in the right basket +- Grasp the power strip and put it in the left basket +- Grasp the green lemon and put it in the right basket +- Grasp the coke and put it in the right basket +- Grasp the cleaning agent and put it in the left basket +- Grasp the soda water and put it in the right basket +- Grasp the spoon and put it in the left basket +- Grasp the duck toys and put it in the left basket +- Grasp the triangle cake and put it in the right basket +- Grasp the cookie and put it in the right basket +- Grasp the yellow cake and put it in the right basket +- Grasp the shower sphere and put it in the left basket +- Grasp the compass and put it in the left basket +- Grasp the orange and put it in the right basket +- Grasp the broom and put it in the left basket +- Grasp the back scratcher and put it in the right basket +- Grasp the ballpoint pen and put it in the left basket +- Grasp the round bread and put it in the right basket +- Grasp the egg yolk pastry and put it in the right basket +- Grasp the soap and put it in the left basket +- Grasp the washing liquid and put it in the left basket +- Grasp the hard cleanser and put it in the left basket +- Grasp the milk and put it in the right basket +- Grasp the black marker and put it in the left basket +- Grasp the banana and put it in the right basket +- Grasp the can and put it in the left basket +- Grasp the black glass cup and put it in the left basket +- Grasp the brush and put it in the left basket +- Grasp the bath ball and put it in the left basket +- Grasp the blue towel and put it in the left basket +- Grasp the peeler and put it in the left basket +- Grasp the brown towel and put it in the left basket +- Grasp the peach and put it in the right basket +- Grasp the tea cup and put it in the left basket +- Grasp the round bread and put it in the left basket +- Grasp the chocolate and put it in the right basket +- Grasp the grey towel and put it in the left basket +- Grasp the canned cola and put it in the right basket +- Grasp the tape and put it in the left basket +- Grasp the bread slice and put it in the right basket +- Grasp the glasses case and put it in the left basket +- Grasp the triangle cake and put it in the left basket +- Grasp the peach doll and put it in the right basket +- Grasp the blue cup and put it in the left basket +- Grasp the pen container and put it in the left basket +- Grasp the red duck and put it in the left basket +- Grasp the long bread and put it in the right basket +- Grasp the yogurt and put it in the right basket +- Grasp the potato chips and put it in the right basket +- Grasp the can and put it in the right basket +- Grasp the egg beater and put it in the right basket +- Place the cookie in the center of the table +- Grasp the square chewing gum and put it in the left basket +- Grasp the ad milk and put it in the right basket +- Grasp the detergent and put it in the left basket +- Grasp the yellow duck and put it in the left basket +- Grasp the blue marker and put it in the left basket +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -232,10 +164,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -243,7 +178,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 191 total_frames: 153386 fps: 30 @@ -330,9 +266,11 @@ data_structure: 'Galaxea_R1_Lite_classify_object_four_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:190 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -600,7 +538,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -608,6 +546,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -634,6 +573,314 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_classify_object_four + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the food in the right basket with the right gripper, and place the non food + items in the left basket with the left gripper. + sub_tasks: + - subtask: Grasp the potato chips and put it in the left basket + subtask_index: 0 + - subtask: Grasp the mineral water and put it in the right basket + subtask_index: 1 + - subtask: Grasp the rubiks cube and put it in the left basket + subtask_index: 2 + - subtask: Grasp the waffle and put it in the right basket + subtask_index: 3 + - subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 4 + - subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 5 + - subtask: Grasp the apple and put it in the right basket + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: Grasp the white eraser and put it in the left basket + subtask_index: 8 + - subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 9 + - subtask: Grasp the power strip and put it in the left basket + subtask_index: 10 + - subtask: Grasp the green lemon and put it in the right basket + subtask_index: 11 + - subtask: Grasp the coke and put it in the right basket + subtask_index: 12 + - subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 13 + - subtask: Grasp the soda water and put it in the right basket + subtask_index: 14 + - subtask: Grasp the spoon and put it in the left basket + subtask_index: 15 + - subtask: Grasp the duck toys and put it in the left basket + subtask_index: 16 + - subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 17 + - subtask: Grasp the cookie and put it in the right basket + subtask_index: 18 + - subtask: Grasp the yellow cake and put it in the right basket + subtask_index: 19 + - subtask: Grasp the shower sphere and put it in the left basket + subtask_index: 20 + - subtask: Grasp the compass and put it in the left basket + subtask_index: 21 + - subtask: Grasp the orange and put it in the right basket + subtask_index: 22 + - subtask: Grasp the broom and put it in the left basket + subtask_index: 23 + - subtask: Grasp the back scratcher and put it in the right basket + subtask_index: 24 + - subtask: Grasp the ballpoint pen and put it in the left basket + subtask_index: 25 + - subtask: Grasp the round bread and put it in the right basket + subtask_index: 26 + - subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 27 + - subtask: Grasp the soap and put it in the left basket + subtask_index: 28 + - subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 29 + - subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 30 + - subtask: Grasp the milk and put it in the right basket + subtask_index: 31 + - subtask: Grasp the black marker and put it in the left basket + subtask_index: 32 + - subtask: Grasp the banana and put it in the right basket + subtask_index: 33 + - subtask: Grasp the can and put it in the left basket + subtask_index: 34 + - subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 35 + - subtask: Grasp the brush and put it in the left basket + subtask_index: 36 + - subtask: Grasp the bath ball and put it in the left basket + subtask_index: 37 + - subtask: Grasp the blue towel and put it in the left basket + subtask_index: 38 + - subtask: Grasp the peeler and put it in the left basket + subtask_index: 39 + - subtask: Grasp the brown towel and put it in the left basket + subtask_index: 40 + - subtask: Grasp the peach and put it in the right basket + subtask_index: 41 + - subtask: Grasp the tea cup and put it in the left basket + subtask_index: 42 + - subtask: Grasp the round bread and put it in the left basket + subtask_index: 43 + - subtask: Grasp the chocolate and put it in the right basket + subtask_index: 44 + - subtask: Grasp the grey towel and put it in the left basket + subtask_index: 45 + - subtask: Grasp the canned cola and put it in the right basket + subtask_index: 46 + - subtask: Grasp the tape and put it in the left basket + subtask_index: 47 + - subtask: Grasp the bread slice and put it in the right basket + subtask_index: 48 + - subtask: Grasp the glasses case and put it in the left basket + subtask_index: 49 + - subtask: Grasp the triangle cake and put it in the left basket + subtask_index: 50 + - subtask: Grasp the peach doll and put it in the right basket + subtask_index: 51 + - subtask: Grasp the blue cup and put it in the left basket + subtask_index: 52 + - subtask: Grasp the pen container and put it in the left basket + subtask_index: 53 + - subtask: Grasp the red duck and put it in the left basket + subtask_index: 54 + - subtask: Grasp the long bread and put it in the right basket + subtask_index: 55 + - subtask: Grasp the yogurt and put it in the right basket + subtask_index: 56 + - subtask: Grasp the potato chips and put it in the right basket + subtask_index: 57 + - subtask: Grasp the can and put it in the right basket + subtask_index: 58 + - subtask: Grasp the egg beater and put it in the right basket + subtask_index: 59 + - subtask: Place the cookie in the center of the table + subtask_index: 60 + - subtask: Grasp the square chewing gum and put it in the left basket + subtask_index: 61 + - subtask: Grasp the ad milk and put it in the right basket + subtask_index: 62 + - subtask: Grasp the detergent and put it in the left basket + subtask_index: 63 + - subtask: Grasp the yellow duck and put it in the left basket + subtask_index: 64 + - subtask: Grasp the blue marker and put it in the left basket + subtask_index: 65 + - subtask: 'null' + subtask_index: 66 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 153386 + dataset_size: 8.39 GB + data_structure: 'Galaxea_R1_Lite_classify_object_four_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (179 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml index 25622eb986a23059e93b593c33c82a34f7d2ce87..586eb17ec79635328af6a86edc1fcd063c1e42b9 100644 --- a/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml +++ b/dataset_info/Galaxea_R1_Lite_classify_object_green_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: baskets level2: brown_basket @@ -75,341 +75,182 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- on the green table,place the food in the right basket with the right gripper, and - place the non food items in the left basket with the left gripper. +task_result: 'null' +task_instruction: on the green table,place the food in the right basket with the right + gripper, and place the non food items in the left basket with the left gripper. sub_tasks: -- subtask: Grasp the round bread and put it in the right basket - subtask_index: 0 -- subtask: Grasp the can and put it in the right basket - subtask_index: 1 -- subtask: Pick up the compass and put it in the left basket - subtask_index: 2 -- subtask: Grasp the soft cleanser and put it in the left basket - subtask_index: 3 -- subtask: Pick up the orange and put it in the right basket - subtask_index: 4 -- subtask: Pick up the round chewing gum and put it in the right basket - subtask_index: 5 -- subtask: Grasp the playing cards and put it in the left basket - subtask_index: 6 -- subtask: Grasp the purple garbage bag and put it in the left basket - subtask_index: 7 -- subtask: Place the back scratcher in the center of the table - subtask_index: 8 -- subtask: Place the eggplant in the center of the table - subtask_index: 9 -- subtask: Pick up the square chewing gum and put it in the right basket - subtask_index: 10 -- subtask: Pick up the washing liquid and put it in the left basket - subtask_index: 11 -- subtask: Grasp the red pot and put it in the left basket - subtask_index: 12 -- subtask: Grasp the grape and put it in the right basket - subtask_index: 13 -- subtask: Pick up the tape and put it in the left basket - subtask_index: 14 -- subtask: Pick up the shampoo and put it in the left basket - subtask_index: 15 -- subtask: Pick up the playing cards and put it in the left basket - subtask_index: 16 -- subtask: Place the orange in the center of the table - subtask_index: 17 -- subtask: Grasp the eggplant and put it in the right basket - subtask_index: 18 -- subtask: Pick up the banana and put it in the right basket - subtask_index: 19 -- subtask: Grasp the washing liquid and put it in the left basket - subtask_index: 20 -- subtask: Grasp the shampoo and put it in the left basket - subtask_index: 21 -- subtask: Place the pink bowl in the center of the table - subtask_index: 22 -- subtask: Place the compass in the center of the table - subtask_index: 23 -- subtask: Place the peach in the center of the table - subtask_index: 24 -- subtask: Place the banana in the center of the table - subtask_index: 25 -- subtask: Place the tape in the center of the table - subtask_index: 26 -- subtask: Pick up the round bread and put it in the left basket - subtask_index: 27 -- subtask: Pick up the tea cup and put it in the left basket - subtask_index: 28 -- subtask: Pick up the round bread and put it in the right basket - subtask_index: 29 -- subtask: Grasp the banana and put it in the right basket - subtask_index: 30 -- subtask: Grasp the pear and put it in the right basket - subtask_index: 31 -- subtask: Place the lemon and put it in the center of the table - subtask_index: 32 -- subtask: Grasp the compass and put it in the right basket - subtask_index: 33 -- subtask: Pick up the can and put it in the right basket - subtask_index: 34 -- subtask: Place the red pot in the center of the table - subtask_index: 35 -- subtask: Pick up the yellow marker and put it in the left basket - subtask_index: 36 -- subtask: Grasp the yellow cake and put it in the right basket - subtask_index: 37 -- subtask: Grasp the long bread and put it in the right basket - subtask_index: 38 -- subtask: Grasp the canned cola and put it in the right basket - subtask_index: 39 -- subtask: Grasp the glasses case and put it in the left basket - subtask_index: 40 -- subtask: Pick up the lime and put it in the right basket - subtask_index: 41 -- subtask: Pick up the pear and put it in the right basket - subtask_index: 42 -- subtask: Grasp the green chewing gum and put it in the right basket - subtask_index: 43 -- subtask: Pick up the croissant and put it in the right basket - subtask_index: 44 -- subtask: Pick up the chinese cabbage and put it in the right basket - subtask_index: 45 -- subtask: Place the fruit fudge in the center of the table - subtask_index: 46 -- subtask: Grasp the white eraser and put it in the left basket - subtask_index: 47 -- subtask: Place the yellow marker in the center of the table - subtask_index: 48 -- subtask: Place the round chewing gum in the center of the table - subtask_index: 49 -- subtask: Pick up the canned cola and put it in the right basket - subtask_index: 50 -- subtask: Pick up the red pot and put it in the left basket - subtask_index: 51 -- subtask: Place the green lemon in the center of the table - subtask_index: 52 -- subtask: Grasp the pink marker and put it in the left basket - subtask_index: 53 -- subtask: Place the washing liquid in the center of the table - subtask_index: 54 -- subtask: Abnormal - subtask_index: 55 -- subtask: Grasp the peach and put it in the right basket - subtask_index: 56 -- subtask: Grasp the soap and put it in the left basket - subtask_index: 57 -- subtask: Place the Red Bull in the center of the table - subtask_index: 58 -- subtask: Place the mango in the center of the table - subtask_index: 59 -- subtask: Grasp the fruit fudge and put it in the right basket - subtask_index: 60 -- subtask: Grasp the bath ball and put it in the left basket - subtask_index: 61 -- subtask: Grasp the red bull and put it in the right basket - subtask_index: 62 -- subtask: Pick up the lemon and put it in the right basket - subtask_index: 63 -- subtask: Grasp the chinese cabbage and put it in the right basket - subtask_index: 64 -- subtask: Grasp the pink pot and put it in the left basket - subtask_index: 65 -- subtask: Grasp the croissant and put it in the right basket - subtask_index: 66 -- subtask: Grasp the soda water and put it in the right basket - subtask_index: 67 -- subtask: Pick up the egg yolk pastry and put it in the right basket - subtask_index: 68 -- subtask: Grasp the spoon and put it in the left basket - subtask_index: 69 -- subtask: Grasp the blue cup and put it in the left basket - subtask_index: 70 -- subtask: Place the blue towel in the center of the table - subtask_index: 71 -- subtask: Place the yellow cake in the center of the table - subtask_index: 72 -- subtask: Place the grey cup in the center of the table - subtask_index: 73 -- subtask: Grasp the tape and put it in the left basket - subtask_index: 74 -- subtask: Place the square chewing gum in the center of the table - subtask_index: 75 -- subtask: Pick up the milk and put it in the right basket - subtask_index: 76 -- subtask: Grasp the back scratcher and put it in the right basket - subtask_index: 77 -- subtask: Grasp the yogurt and put it in the right basket - subtask_index: 78 -- subtask: Pick up the yellow cake and put it in the right basket - subtask_index: 79 -- subtask: Pick up the blue bowl and put it in the left basket - subtask_index: 80 -- subtask: Grasp the lemon and put it in the right basket - subtask_index: 81 -- subtask: Grasp the back scratcher and put it in the left basket - subtask_index: 82 -- subtask: Grasp the orange and put it in the right basket - subtask_index: 83 -- subtask: Pick up the soda water and put it in the right basket - subtask_index: 84 -- subtask: Grasp the red pot and put it in the right basket - subtask_index: 85 -- subtask: Grasp the milk and put it in the right basket - subtask_index: 86 -- subtask: Pick up the blue cup and put it in the left basket - subtask_index: 87 -- subtask: Pick up the mango and put it in the right basket - subtask_index: 88 -- subtask: Place the pink marker in the center of the table - subtask_index: 89 -- subtask: Grasp the grey cup and put it in the left basket - subtask_index: 90 -- subtask: Pick up the long bread and put it in the right basket - subtask_index: 91 -- subtask: Pick up the soap and put it in the left basket - subtask_index: 92 -- subtask: Grasp the peach and put it in the left basket - subtask_index: 93 -- subtask: Pick up the pink pot and put it in the left basket - subtask_index: 94 -- subtask: Grasp the sausage and put it in the right basket - subtask_index: 95 -- subtask: Pick up the yogurt and put it in the right basket - subtask_index: 96 -- subtask: Place the bath ball in the center of the table - subtask_index: 97 -- subtask: Grasp the square chewing gum and put it in the right basket - subtask_index: 98 -- subtask: Grasp the ad milk and put it in the right basket - subtask_index: 99 -- subtask: Place the pink pot in the center of the table - subtask_index: 100 -- subtask: Grasp the compass and put it in the left basket - subtask_index: 101 -- subtask: Place the glasses case in the center of the table - subtask_index: 102 -- subtask: Place the gray towel in the center of the table - subtask_index: 103 -- subtask: Pick up the back scratcher and put it in the left basket - subtask_index: 104 -- subtask: Place the purple garbage bag in the center of the table - subtask_index: 105 -- subtask: Place the blue cup in the center of the table - subtask_index: 106 -- subtask: Pick up the blue towel and put it in the left basket - subtask_index: 107 -- subtask: Place the pear in the center of the table - subtask_index: 108 -- subtask: Place the soft cleanser in the center of the table - subtask_index: 109 -- subtask: Grasp the egg yolk pastry and put it in the right basket - subtask_index: 110 -- subtask: Pick up the spoon and put it in the left basket - subtask_index: 111 -- subtask: Place the sausage in the center of the table - subtask_index: 112 -- subtask: Place the green chewing gum in the center of the table - subtask_index: 113 -- subtask: Pick up the peach and put it in the right basket - subtask_index: 114 -- subtask: Place the can in the center of the table - subtask_index: 115 -- subtask: Grasp the mango and put it in the right basket - subtask_index: 116 -- subtask: Place the canned cola in the center of the table - subtask_index: 117 -- subtask: Pick up the gray towel and put it in the left basket - subtask_index: 118 -- subtask: Place the ad milk in the center of the table - subtask_index: 119 -- subtask: Pick up the sausage and put it in the right basket - subtask_index: 120 -- subtask: Grasp the hard cleanser and put it in the left basket - subtask_index: 121 -- subtask: Pick up the pink marker and put it in the left basket - subtask_index: 122 -- subtask: Grasp the detergent and put it in the left basket - subtask_index: 123 -- subtask: Pick up the pink bowl and put it in the left basket - subtask_index: 124 -- subtask: Grasp the Red Bull and put it in the right basket - subtask_index: 125 -- subtask: Pick up the ad milk and put it in the right basket - subtask_index: 126 -- subtask: Place the long bread in the center of the table - subtask_index: 127 -- subtask: Pick up the soft cleanser and put it in the left basket - subtask_index: 128 -- subtask: Place the croissant in the center of the table - subtask_index: 129 -- subtask: Grasp the lime and put it in the right basket - subtask_index: 130 -- subtask: Place the round bread in the center of the table - subtask_index: 131 -- subtask: Pick up the green chewing gum and put it in the right basket - subtask_index: 132 -- subtask: Grasp the pink bowl and put it in the left basket - subtask_index: 133 -- subtask: Place the playing cards in the center of the table - subtask_index: 134 -- subtask: Pick up the glasses case and put it in the left basket - subtask_index: 135 -- subtask: Pick up the fruit fudge and put it in the right basket - subtask_index: 136 -- subtask: Pick up the eggplant and put it in the right basket - subtask_index: 137 -- subtask: Place the white eraser in the center of the table - subtask_index: 138 -- subtask: Place the yogurt in the center of the table - subtask_index: 139 -- subtask: Pick up the detergent and put it in the left basket - subtask_index: 140 -- subtask: Grasp the blue towel and put it in the left basket - subtask_index: 141 -- subtask: Pick up the red bull and put it in the right basket - subtask_index: 142 -- subtask: Place the lime in the center of the table - subtask_index: 143 -- subtask: Grasp the mint candy and put it in the right basket - subtask_index: 144 -- subtask: Place the soap in the center of the table - subtask_index: 145 -- subtask: Grasp the red marker and put it in the left basket - subtask_index: 146 -- subtask: Pick up the purple garbage bag and put it in the left basket - subtask_index: 147 -- subtask: Place the detergent in the center of the table - subtask_index: 148 -- subtask: Pick up the bath ball and put it in the left basket - subtask_index: 149 -- subtask: Grasp the gray towel and put it in the left basket - subtask_index: 150 -- subtask: Grasp the yellow marker and put it in the left basket - subtask_index: 151 -- subtask: Grasp the pink towel and put it in the left basket - subtask_index: 152 -- subtask: End - subtask_index: 153 -- subtask: Place the shampoo in the center of the table - subtask_index: 154 -- subtask: Grasp the green lemon and put it in the right basket - subtask_index: 155 -- subtask: Grasp the round chewing gum and put it in the right basket - subtask_index: 156 -- subtask: 'null' - subtask_index: 157 +- Grasp the round bread and put it in the right basket +- Grasp the can and put it in the right basket +- Pick up the compass and put it in the left basket +- Grasp the soft cleanser and put it in the left basket +- Pick up the orange and put it in the right basket +- Pick up the round chewing gum and put it in the right basket +- Grasp the playing cards and put it in the left basket +- Grasp the purple garbage bag and put it in the left basket +- Place the back scratcher in the center of the table +- Place the eggplant in the center of the table +- Pick up the square chewing gum and put it in the right basket +- Pick up the washing liquid and put it in the left basket +- Grasp the red pot and put it in the left basket +- Grasp the grape and put it in the right basket +- Pick up the tape and put it in the left basket +- Pick up the shampoo and put it in the left basket +- Pick up the playing cards and put it in the left basket +- Place the orange in the center of the table +- Grasp the eggplant and put it in the right basket +- Pick up the banana and put it in the right basket +- Grasp the washing liquid and put it in the left basket +- Grasp the shampoo and put it in the left basket +- Place the pink bowl in the center of the table +- Place the compass in the center of the table +- Place the peach in the center of the table +- Place the banana in the center of the table +- Place the tape in the center of the table +- Pick up the round bread and put it in the left basket +- Pick up the tea cup and put it in the left basket +- Pick up the round bread and put it in the right basket +- Grasp the banana and put it in the right basket +- Grasp the pear and put it in the right basket +- Place the lemon and put it in the center of the table +- Grasp the compass and put it in the right basket +- Pick up the can and put it in the right basket +- Place the red pot in the center of the table +- Pick up the yellow marker and put it in the left basket +- Grasp the yellow cake and put it in the right basket +- Grasp the long bread and put it in the right basket +- Grasp the canned cola and put it in the right basket +- Grasp the glasses case and put it in the left basket +- Pick up the lime and put it in the right basket +- Pick up the pear and put it in the right basket +- Grasp the green chewing gum and put it in the right basket +- Pick up the croissant and put it in the right basket +- Pick up the chinese cabbage and put it in the right basket +- Place the fruit fudge in the center of the table +- Grasp the white eraser and put it in the left basket +- Place the yellow marker in the center of the table +- Place the round chewing gum in the center of the table +- Pick up the canned cola and put it in the right basket +- Pick up the red pot and put it in the left basket +- Place the green lemon in the center of the table +- Grasp the pink marker and put it in the left basket +- Place the washing liquid in the center of the table +- Abnormal +- Grasp the peach and put it in the right basket +- Grasp the soap and put it in the left basket +- Place the Red Bull in the center of the table +- Place the mango in the center of the table +- Grasp the fruit fudge and put it in the right basket +- Grasp the bath ball and put it in the left basket +- Grasp the red bull and put it in the right basket +- Pick up the lemon and put it in the right basket +- Grasp the chinese cabbage and put it in the right basket +- Grasp the pink pot and put it in the left basket +- Grasp the croissant and put it in the right basket +- Grasp the soda water and put it in the right basket +- Pick up the egg yolk pastry and put it in the right basket +- Grasp the spoon and put it in the left basket +- Grasp the blue cup and put it in the left basket +- Place the blue towel in the center of the table +- Place the yellow cake in the center of the table +- Place the grey cup in the center of the table +- Grasp the tape and put it in the left basket +- Place the square chewing gum in the center of the table +- Pick up the milk and put it in the right basket +- Grasp the back scratcher and put it in the right basket +- Grasp the yogurt and put it in the right basket +- Pick up the yellow cake and put it in the right basket +- Pick up the blue bowl and put it in the left basket +- Grasp the lemon and put it in the right basket +- Grasp the back scratcher and put it in the left basket +- Grasp the orange and put it in the right basket +- Pick up the soda water and put it in the right basket +- Grasp the red pot and put it in the right basket +- Grasp the milk and put it in the right basket +- Pick up the blue cup and put it in the left basket +- Pick up the mango and put it in the right basket +- Place the pink marker in the center of the table +- Grasp the grey cup and put it in the left basket +- Pick up the long bread and put it in the right basket +- Pick up the soap and put it in the left basket +- Grasp the peach and put it in the left basket +- Pick up the pink pot and put it in the left basket +- Grasp the sausage and put it in the right basket +- Pick up the yogurt and put it in the right basket +- Place the bath ball in the center of the table +- Grasp the square chewing gum and put it in the right basket +- Grasp the ad milk and put it in the right basket +- Place the pink pot in the center of the table +- Grasp the compass and put it in the left basket +- Place the glasses case in the center of the table +- Place the gray towel in the center of the table +- Pick up the back scratcher and put it in the left basket +- Place the purple garbage bag in the center of the table +- Place the blue cup in the center of the table +- Pick up the blue towel and put it in the left basket +- Place the pear in the center of the table +- Place the soft cleanser in the center of the table +- Grasp the egg yolk pastry and put it in the right basket +- Pick up the spoon and put it in the left basket +- Place the sausage in the center of the table +- Place the green chewing gum in the center of the table +- Pick up the peach and put it in the right basket +- Place the can in the center of the table +- Grasp the mango and put it in the right basket +- Place the canned cola in the center of the table +- Pick up the gray towel and put it in the left basket +- Place the ad milk in the center of the table +- Pick up the sausage and put it in the right basket +- Grasp the hard cleanser and put it in the left basket +- Pick up the pink marker and put it in the left basket +- Grasp the detergent and put it in the left basket +- Pick up the pink bowl and put it in the left basket +- Grasp the Red Bull and put it in the right basket +- Pick up the ad milk and put it in the right basket +- Place the long bread in the center of the table +- Pick up the soft cleanser and put it in the left basket +- Place the croissant in the center of the table +- Grasp the lime and put it in the right basket +- Place the round bread in the center of the table +- Pick up the green chewing gum and put it in the right basket +- Grasp the pink bowl and put it in the left basket +- Place the playing cards in the center of the table +- Pick up the glasses case and put it in the left basket +- Pick up the fruit fudge and put it in the right basket +- Pick up the eggplant and put it in the right basket +- Place the white eraser in the center of the table +- Place the yogurt in the center of the table +- Pick up the detergent and put it in the left basket +- Grasp the blue towel and put it in the left basket +- Pick up the red bull and put it in the right basket +- Place the lime in the center of the table +- Grasp the mint candy and put it in the right basket +- Place the soap in the center of the table +- Grasp the red marker and put it in the left basket +- Pick up the purple garbage bag and put it in the left basket +- Place the detergent in the center of the table +- Pick up the bath ball and put it in the left basket +- Grasp the gray towel and put it in the left basket +- Grasp the yellow marker and put it in the left basket +- Grasp the pink towel and put it in the left basket +- End +- Place the shampoo in the center of the table +- Grasp the green lemon and put it in the right basket +- Grasp the round chewing gum and put it in the right basket +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -420,10 +261,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -431,7 +275,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 224 total_frames: 251221 fps: 30 @@ -518,9 +363,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_classify_object_green_tableclot |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:223 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -788,7 +635,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -796,6 +643,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -822,6 +670,496 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_classify_object_green_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - on the green table,place the food in the right basket with the right gripper, + and place the non food items in the left basket with the left gripper. + sub_tasks: + - subtask: Grasp the round bread and put it in the right basket + subtask_index: 0 + - subtask: Grasp the can and put it in the right basket + subtask_index: 1 + - subtask: Pick up the compass and put it in the left basket + subtask_index: 2 + - subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 3 + - subtask: Pick up the orange and put it in the right basket + subtask_index: 4 + - subtask: Pick up the round chewing gum and put it in the right basket + subtask_index: 5 + - subtask: Grasp the playing cards and put it in the left basket + subtask_index: 6 + - subtask: Grasp the purple garbage bag and put it in the left basket + subtask_index: 7 + - subtask: Place the back scratcher in the center of the table + subtask_index: 8 + - subtask: Place the eggplant in the center of the table + subtask_index: 9 + - subtask: Pick up the square chewing gum and put it in the right basket + subtask_index: 10 + - subtask: Pick up the washing liquid and put it in the left basket + subtask_index: 11 + - subtask: Grasp the red pot and put it in the left basket + subtask_index: 12 + - subtask: Grasp the grape and put it in the right basket + subtask_index: 13 + - subtask: Pick up the tape and put it in the left basket + subtask_index: 14 + - subtask: Pick up the shampoo and put it in the left basket + subtask_index: 15 + - subtask: Pick up the playing cards and put it in the left basket + subtask_index: 16 + - subtask: Place the orange in the center of the table + subtask_index: 17 + - subtask: Grasp the eggplant and put it in the right basket + subtask_index: 18 + - subtask: Pick up the banana and put it in the right basket + subtask_index: 19 + - subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 20 + - subtask: Grasp the shampoo and put it in the left basket + subtask_index: 21 + - subtask: Place the pink bowl in the center of the table + subtask_index: 22 + - subtask: Place the compass in the center of the table + subtask_index: 23 + - subtask: Place the peach in the center of the table + subtask_index: 24 + - subtask: Place the banana in the center of the table + subtask_index: 25 + - subtask: Place the tape in the center of the table + subtask_index: 26 + - subtask: Pick up the round bread and put it in the left basket + subtask_index: 27 + - subtask: Pick up the tea cup and put it in the left basket + subtask_index: 28 + - subtask: Pick up the round bread and put it in the right basket + subtask_index: 29 + - subtask: Grasp the banana and put it in the right basket + subtask_index: 30 + - subtask: Grasp the pear and put it in the right basket + subtask_index: 31 + - subtask: Place the lemon and put it in the center of the table + subtask_index: 32 + - subtask: Grasp the compass and put it in the right basket + subtask_index: 33 + - subtask: Pick up the can and put it in the right basket + subtask_index: 34 + - subtask: Place the red pot in the center of the table + subtask_index: 35 + - subtask: Pick up the yellow marker and put it in the left basket + subtask_index: 36 + - subtask: Grasp the yellow cake and put it in the right basket + subtask_index: 37 + - subtask: Grasp the long bread and put it in the right basket + subtask_index: 38 + - subtask: Grasp the canned cola and put it in the right basket + subtask_index: 39 + - subtask: Grasp the glasses case and put it in the left basket + subtask_index: 40 + - subtask: Pick up the lime and put it in the right basket + subtask_index: 41 + - subtask: Pick up the pear and put it in the right basket + subtask_index: 42 + - subtask: Grasp the green chewing gum and put it in the right basket + subtask_index: 43 + - subtask: Pick up the croissant and put it in the right basket + subtask_index: 44 + - subtask: Pick up the chinese cabbage and put it in the right basket + subtask_index: 45 + - subtask: Place the fruit fudge in the center of the table + subtask_index: 46 + - subtask: Grasp the white eraser and put it in the left basket + subtask_index: 47 + - subtask: Place the yellow marker in the center of the table + subtask_index: 48 + - subtask: Place the round chewing gum in the center of the table + subtask_index: 49 + - subtask: Pick up the canned cola and put it in the right basket + subtask_index: 50 + - subtask: Pick up the red pot and put it in the left basket + subtask_index: 51 + - subtask: Place the green lemon in the center of the table + subtask_index: 52 + - subtask: Grasp the pink marker and put it in the left basket + subtask_index: 53 + - subtask: Place the washing liquid in the center of the table + subtask_index: 54 + - subtask: Abnormal + subtask_index: 55 + - subtask: Grasp the peach and put it in the right basket + subtask_index: 56 + - subtask: Grasp the soap and put it in the left basket + subtask_index: 57 + - subtask: Place the Red Bull in the center of the table + subtask_index: 58 + - subtask: Place the mango in the center of the table + subtask_index: 59 + - subtask: Grasp the fruit fudge and put it in the right basket + subtask_index: 60 + - subtask: Grasp the bath ball and put it in the left basket + subtask_index: 61 + - subtask: Grasp the red bull and put it in the right basket + subtask_index: 62 + - subtask: Pick up the lemon and put it in the right basket + subtask_index: 63 + - subtask: Grasp the chinese cabbage and put it in the right basket + subtask_index: 64 + - subtask: Grasp the pink pot and put it in the left basket + subtask_index: 65 + - subtask: Grasp the croissant and put it in the right basket + subtask_index: 66 + - subtask: Grasp the soda water and put it in the right basket + subtask_index: 67 + - subtask: Pick up the egg yolk pastry and put it in the right basket + subtask_index: 68 + - subtask: Grasp the spoon and put it in the left basket + subtask_index: 69 + - subtask: Grasp the blue cup and put it in the left basket + subtask_index: 70 + - subtask: Place the blue towel in the center of the table + subtask_index: 71 + - subtask: Place the yellow cake in the center of the table + subtask_index: 72 + - subtask: Place the grey cup in the center of the table + subtask_index: 73 + - subtask: Grasp the tape and put it in the left basket + subtask_index: 74 + - subtask: Place the square chewing gum in the center of the table + subtask_index: 75 + - subtask: Pick up the milk and put it in the right basket + subtask_index: 76 + - subtask: Grasp the back scratcher and put it in the right basket + subtask_index: 77 + - subtask: Grasp the yogurt and put it in the right basket + subtask_index: 78 + - subtask: Pick up the yellow cake and put it in the right basket + subtask_index: 79 + - subtask: Pick up the blue bowl and put it in the left basket + subtask_index: 80 + - subtask: Grasp the lemon and put it in the right basket + subtask_index: 81 + - subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 82 + - subtask: Grasp the orange and put it in the right basket + subtask_index: 83 + - subtask: Pick up the soda water and put it in the right basket + subtask_index: 84 + - subtask: Grasp the red pot and put it in the right basket + subtask_index: 85 + - subtask: Grasp the milk and put it in the right basket + subtask_index: 86 + - subtask: Pick up the blue cup and put it in the left basket + subtask_index: 87 + - subtask: Pick up the mango and put it in the right basket + subtask_index: 88 + - subtask: Place the pink marker in the center of the table + subtask_index: 89 + - subtask: Grasp the grey cup and put it in the left basket + subtask_index: 90 + - subtask: Pick up the long bread and put it in the right basket + subtask_index: 91 + - subtask: Pick up the soap and put it in the left basket + subtask_index: 92 + - subtask: Grasp the peach and put it in the left basket + subtask_index: 93 + - subtask: Pick up the pink pot and put it in the left basket + subtask_index: 94 + - subtask: Grasp the sausage and put it in the right basket + subtask_index: 95 + - subtask: Pick up the yogurt and put it in the right basket + subtask_index: 96 + - subtask: Place the bath ball in the center of the table + subtask_index: 97 + - subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 98 + - subtask: Grasp the ad milk and put it in the right basket + subtask_index: 99 + - subtask: Place the pink pot in the center of the table + subtask_index: 100 + - subtask: Grasp the compass and put it in the left basket + subtask_index: 101 + - subtask: Place the glasses case in the center of the table + subtask_index: 102 + - subtask: Place the gray towel in the center of the table + subtask_index: 103 + - subtask: Pick up the back scratcher and put it in the left basket + subtask_index: 104 + - subtask: Place the purple garbage bag in the center of the table + subtask_index: 105 + - subtask: Place the blue cup in the center of the table + subtask_index: 106 + - subtask: Pick up the blue towel and put it in the left basket + subtask_index: 107 + - subtask: Place the pear in the center of the table + subtask_index: 108 + - subtask: Place the soft cleanser in the center of the table + subtask_index: 109 + - subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 110 + - subtask: Pick up the spoon and put it in the left basket + subtask_index: 111 + - subtask: Place the sausage in the center of the table + subtask_index: 112 + - subtask: Place the green chewing gum in the center of the table + subtask_index: 113 + - subtask: Pick up the peach and put it in the right basket + subtask_index: 114 + - subtask: Place the can in the center of the table + subtask_index: 115 + - subtask: Grasp the mango and put it in the right basket + subtask_index: 116 + - subtask: Place the canned cola in the center of the table + subtask_index: 117 + - subtask: Pick up the gray towel and put it in the left basket + subtask_index: 118 + - subtask: Place the ad milk in the center of the table + subtask_index: 119 + - subtask: Pick up the sausage and put it in the right basket + subtask_index: 120 + - subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 121 + - subtask: Pick up the pink marker and put it in the left basket + subtask_index: 122 + - subtask: Grasp the detergent and put it in the left basket + subtask_index: 123 + - subtask: Pick up the pink bowl and put it in the left basket + subtask_index: 124 + - subtask: Grasp the Red Bull and put it in the right basket + subtask_index: 125 + - subtask: Pick up the ad milk and put it in the right basket + subtask_index: 126 + - subtask: Place the long bread in the center of the table + subtask_index: 127 + - subtask: Pick up the soft cleanser and put it in the left basket + subtask_index: 128 + - subtask: Place the croissant in the center of the table + subtask_index: 129 + - subtask: Grasp the lime and put it in the right basket + subtask_index: 130 + - subtask: Place the round bread in the center of the table + subtask_index: 131 + - subtask: Pick up the green chewing gum and put it in the right basket + subtask_index: 132 + - subtask: Grasp the pink bowl and put it in the left basket + subtask_index: 133 + - subtask: Place the playing cards in the center of the table + subtask_index: 134 + - subtask: Pick up the glasses case and put it in the left basket + subtask_index: 135 + - subtask: Pick up the fruit fudge and put it in the right basket + subtask_index: 136 + - subtask: Pick up the eggplant and put it in the right basket + subtask_index: 137 + - subtask: Place the white eraser in the center of the table + subtask_index: 138 + - subtask: Place the yogurt in the center of the table + subtask_index: 139 + - subtask: Pick up the detergent and put it in the left basket + subtask_index: 140 + - subtask: Grasp the blue towel and put it in the left basket + subtask_index: 141 + - subtask: Pick up the red bull and put it in the right basket + subtask_index: 142 + - subtask: Place the lime in the center of the table + subtask_index: 143 + - subtask: Grasp the mint candy and put it in the right basket + subtask_index: 144 + - subtask: Place the soap in the center of the table + subtask_index: 145 + - subtask: Grasp the red marker and put it in the left basket + subtask_index: 146 + - subtask: Pick up the purple garbage bag and put it in the left basket + subtask_index: 147 + - subtask: Place the detergent in the center of the table + subtask_index: 148 + - subtask: Pick up the bath ball and put it in the left basket + subtask_index: 149 + - subtask: Grasp the gray towel and put it in the left basket + subtask_index: 150 + - subtask: Grasp the yellow marker and put it in the left basket + subtask_index: 151 + - subtask: Grasp the pink towel and put it in the left basket + subtask_index: 152 + - subtask: End + subtask_index: 153 + - subtask: Place the shampoo in the center of the table + subtask_index: 154 + - subtask: Grasp the green lemon and put it in the right basket + subtask_index: 155 + - subtask: Grasp the round chewing gum and put it in the right basket + subtask_index: 156 + - subtask: 'null' + subtask_index: 157 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 251221 + dataset_size: 25.62 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_classify_object_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (212 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml index c704497d3ecfd5404f7f84d34c5598a4d5d99f2a..b45641aa4ea44c2dab7471b0e2555ffb9d883fb0 100644 --- a/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml +++ b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: baskets level2: brown_basket @@ -69,171 +69,97 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the food in the right basket with the right gripper, and place the non food - items in the left basket with the left gripper. +task_result: 'null' +task_instruction: place the food in the right basket with the right gripper, and place + the non food items in the left basket with the left gripper. sub_tasks: -- subtask: Grasp the round bread and put it in the right basket - subtask_index: 0 -- subtask: Grasp the small basket containing bread and put it in the right basket - subtask_index: 1 -- subtask: Grasp the lemon and put it in the right basket - subtask_index: 2 -- subtask: Grasp the egg yolk pastry and put it in the right basket - subtask_index: 3 -- subtask: Grasp the can and put it in the right basket - subtask_index: 4 -- subtask: Grasp the apple and put it in the right basket - subtask_index: 5 -- subtask: Grasp the long bread and put it in the right basket - subtask_index: 6 -- subtask: Grasp the canned cola and put it in the right basket - subtask_index: 7 -- subtask: Grasp the back scratcher and put it in the left basket - subtask_index: 8 -- subtask: Grasp the glasses case and put it in the left basket - subtask_index: 9 -- subtask: Grasp the peeler and put it in the left basket - subtask_index: 10 -- subtask: Grasp the cookie and put it in the right basket - subtask_index: 11 -- subtask: Grasp the yellow duck and put it in the right basket - subtask_index: 12 -- subtask: Grasp the cleaning agent and put it in the left basket - subtask_index: 13 -- subtask: Grasp the soft cleanser and put it in the left basket - subtask_index: 14 -- subtask: Grasp the waffle and put it in the right basket - subtask_index: 15 -- subtask: Grasp the grey towel and put it in the left basket - subtask_index: 16 -- subtask: Grasp the orange and put it in the right basket - subtask_index: 17 -- subtask: Grasp the brown towel and put it in the left basket - subtask_index: 18 -- subtask: Grasp the pen container and put it in the left basket - subtask_index: 19 -- subtask: Grasp the hard cleanser and put it in the left basket - subtask_index: 20 -- subtask: Grasp the canned cola and put it in the left basket - subtask_index: 21 -- subtask: Grasp the triangle cake and put it in the right basket - subtask_index: 22 -- subtask: Grasp the shower sphere and put it in the left basket - subtask_index: 23 -- subtask: Grasp the rubiks cube and put it in the right basket - subtask_index: 24 -- subtask: Grasp the broom and put it in the left basket - subtask_index: 25 -- subtask: Grasp the white eraser and put it in the left basket - subtask_index: 26 -- subtask: Grasp the milk and put it in the right basket - subtask_index: 27 -- subtask: Grasp the lime and put it in the right basket - subtask_index: 28 -- subtask: Grasp the brown towel and put it in the right basket - subtask_index: 29 -- subtask: Grasp the duck toys and put it in the left basket - subtask_index: 30 -- subtask: Grasp the power strip and put it in the left basket - subtask_index: 31 -- subtask: Grasp the red duck and put it in the left basket - subtask_index: 32 -- subtask: Grasp the shampoo and put it in the left basket - subtask_index: 33 -- subtask: Grasp the yellow duck and put it in the left basket - subtask_index: 34 -- subtask: Grasp the peach and put it in the right basket - subtask_index: 35 -- subtask: Abnormal - subtask_index: 36 -- subtask: Grasp the tea cup and put it in the left basket - subtask_index: 37 -- subtask: Grasp the pink marker and put it in the left basket - subtask_index: 38 -- subtask: Grasp the brush and put it in the left basket - subtask_index: 39 -- subtask: Grasp the washing liquid and put it in the left basket - subtask_index: 40 -- subtask: Place the rubiks cube in the center of the table - subtask_index: 41 -- subtask: Grasp the soap and put it in the left basket - subtask_index: 42 -- subtask: Grasp the grey towel and put it in the right basket - subtask_index: 43 -- subtask: Grasp the blue marker and put it in the left basket - subtask_index: 44 -- subtask: Grasp the black glass cup and put it in the left basket - subtask_index: 45 -- subtask: Grasp the bath ball and put it in the left basket - subtask_index: 46 -- subtask: Grasp the coke and put it in the right basket - subtask_index: 47 -- subtask: Grasp the potato chips and put it in the right basket - subtask_index: 48 -- subtask: Grasp the ballpoint pen and put it in the left basket - subtask_index: 49 -- subtask: Grasp the rubiks cube and put it in the left basket - subtask_index: 50 -- subtask: Grasp the square chewing gum and put it in the right basket - subtask_index: 51 -- subtask: Grasp the glasses case and put it in the right basket - subtask_index: 52 -- subtask: Grasp the banana and put it in the right basket - subtask_index: 53 -- subtask: Grasp the ad milk and put it in the right basket - subtask_index: 54 -- subtask: Grasp the soda water and put it in the right basket - subtask_index: 55 -- subtask: Grasp the peach doll and put it in the right basket - subtask_index: 56 -- subtask: Grasp the spoon and put it in the left basket - subtask_index: 57 -- subtask: Grasp the blue marker and put it in the right basket - subtask_index: 58 -- subtask: Grasp the blue cup and put it in the left basket - subtask_index: 59 -- subtask: Grasp the compass and put it in the left basket - subtask_index: 60 -- subtask: Grasp the chocolate and put it in the right basket - subtask_index: 61 -- subtask: Grasp the compass and put it in the right basket - subtask_index: 62 -- subtask: End - subtask_index: 63 -- subtask: Grasp the tape and put it in the left basket - subtask_index: 64 -- subtask: Grasp the peeler and put it in the right basket - subtask_index: 65 -- subtask: Grasp the yogurt and put it in the right basket - subtask_index: 66 -- subtask: Grasp the green lemon and put it in the right basket - subtask_index: 67 -- subtask: Grasp the black marker and put it in the left basket - subtask_index: 68 -- subtask: Grasp the round chewing gum and put it in the right basket - subtask_index: 69 -- subtask: Grasp the bread slice and put it in the right basket - subtask_index: 70 -- subtask: Grasp the square chewing gum and put it in the left basket - subtask_index: 71 -- subtask: 'null' - subtask_index: 72 +- Grasp the round bread and put it in the right basket +- Grasp the small basket containing bread and put it in the right basket +- Grasp the lemon and put it in the right basket +- Grasp the egg yolk pastry and put it in the right basket +- Grasp the can and put it in the right basket +- Grasp the apple and put it in the right basket +- Grasp the long bread and put it in the right basket +- Grasp the canned cola and put it in the right basket +- Grasp the back scratcher and put it in the left basket +- Grasp the glasses case and put it in the left basket +- Grasp the peeler and put it in the left basket +- Grasp the cookie and put it in the right basket +- Grasp the yellow duck and put it in the right basket +- Grasp the cleaning agent and put it in the left basket +- Grasp the soft cleanser and put it in the left basket +- Grasp the waffle and put it in the right basket +- Grasp the grey towel and put it in the left basket +- Grasp the orange and put it in the right basket +- Grasp the brown towel and put it in the left basket +- Grasp the pen container and put it in the left basket +- Grasp the hard cleanser and put it in the left basket +- Grasp the canned cola and put it in the left basket +- Grasp the triangle cake and put it in the right basket +- Grasp the shower sphere and put it in the left basket +- Grasp the rubiks cube and put it in the right basket +- Grasp the broom and put it in the left basket +- Grasp the white eraser and put it in the left basket +- Grasp the milk and put it in the right basket +- Grasp the lime and put it in the right basket +- Grasp the brown towel and put it in the right basket +- Grasp the duck toys and put it in the left basket +- Grasp the power strip and put it in the left basket +- Grasp the red duck and put it in the left basket +- Grasp the shampoo and put it in the left basket +- Grasp the yellow duck and put it in the left basket +- Grasp the peach and put it in the right basket +- Abnormal +- Grasp the tea cup and put it in the left basket +- Grasp the pink marker and put it in the left basket +- Grasp the brush and put it in the left basket +- Grasp the washing liquid and put it in the left basket +- Place the rubiks cube in the center of the table +- Grasp the soap and put it in the left basket +- Grasp the grey towel and put it in the right basket +- Grasp the blue marker and put it in the left basket +- Grasp the black glass cup and put it in the left basket +- Grasp the bath ball and put it in the left basket +- Grasp the coke and put it in the right basket +- Grasp the potato chips and put it in the right basket +- Grasp the ballpoint pen and put it in the left basket +- Grasp the rubiks cube and put it in the left basket +- Grasp the square chewing gum and put it in the right basket +- Grasp the glasses case and put it in the right basket +- Grasp the banana and put it in the right basket +- Grasp the ad milk and put it in the right basket +- Grasp the soda water and put it in the right basket +- Grasp the peach doll and put it in the right basket +- Grasp the spoon and put it in the left basket +- Grasp the blue marker and put it in the right basket +- Grasp the blue cup and put it in the left basket +- Grasp the compass and put it in the left basket +- Grasp the chocolate and put it in the right basket +- Grasp the compass and put it in the right basket +- End +- Grasp the tape and put it in the left basket +- Grasp the peeler and put it in the right basket +- Grasp the yogurt and put it in the right basket +- Grasp the green lemon and put it in the right basket +- Grasp the black marker and put it in the left basket +- Grasp the round chewing gum and put it in the right basket +- Grasp the bread slice and put it in the right basket +- Grasp the square chewing gum and put it in the left basket +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -244,10 +170,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -255,7 +184,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 105 total_frames: 86401 fps: 30 @@ -342,9 +272,11 @@ data_structure: 'Galaxea_R1_Lite_classify_object_six_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:104 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -612,7 +544,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -620,6 +552,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -646,6 +579,326 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_classify_object_six + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the food in the right basket with the right gripper, and place the non food + items in the left basket with the left gripper. + sub_tasks: + - subtask: Grasp the round bread and put it in the right basket + subtask_index: 0 + - subtask: Grasp the small basket containing bread and put it in the right basket + subtask_index: 1 + - subtask: Grasp the lemon and put it in the right basket + subtask_index: 2 + - subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 3 + - subtask: Grasp the can and put it in the right basket + subtask_index: 4 + - subtask: Grasp the apple and put it in the right basket + subtask_index: 5 + - subtask: Grasp the long bread and put it in the right basket + subtask_index: 6 + - subtask: Grasp the canned cola and put it in the right basket + subtask_index: 7 + - subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 8 + - subtask: Grasp the glasses case and put it in the left basket + subtask_index: 9 + - subtask: Grasp the peeler and put it in the left basket + subtask_index: 10 + - subtask: Grasp the cookie and put it in the right basket + subtask_index: 11 + - subtask: Grasp the yellow duck and put it in the right basket + subtask_index: 12 + - subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 13 + - subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 14 + - subtask: Grasp the waffle and put it in the right basket + subtask_index: 15 + - subtask: Grasp the grey towel and put it in the left basket + subtask_index: 16 + - subtask: Grasp the orange and put it in the right basket + subtask_index: 17 + - subtask: Grasp the brown towel and put it in the left basket + subtask_index: 18 + - subtask: Grasp the pen container and put it in the left basket + subtask_index: 19 + - subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 20 + - subtask: Grasp the canned cola and put it in the left basket + subtask_index: 21 + - subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 22 + - subtask: Grasp the shower sphere and put it in the left basket + subtask_index: 23 + - subtask: Grasp the rubiks cube and put it in the right basket + subtask_index: 24 + - subtask: Grasp the broom and put it in the left basket + subtask_index: 25 + - subtask: Grasp the white eraser and put it in the left basket + subtask_index: 26 + - subtask: Grasp the milk and put it in the right basket + subtask_index: 27 + - subtask: Grasp the lime and put it in the right basket + subtask_index: 28 + - subtask: Grasp the brown towel and put it in the right basket + subtask_index: 29 + - subtask: Grasp the duck toys and put it in the left basket + subtask_index: 30 + - subtask: Grasp the power strip and put it in the left basket + subtask_index: 31 + - subtask: Grasp the red duck and put it in the left basket + subtask_index: 32 + - subtask: Grasp the shampoo and put it in the left basket + subtask_index: 33 + - subtask: Grasp the yellow duck and put it in the left basket + subtask_index: 34 + - subtask: Grasp the peach and put it in the right basket + subtask_index: 35 + - subtask: Abnormal + subtask_index: 36 + - subtask: Grasp the tea cup and put it in the left basket + subtask_index: 37 + - subtask: Grasp the pink marker and put it in the left basket + subtask_index: 38 + - subtask: Grasp the brush and put it in the left basket + subtask_index: 39 + - subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 40 + - subtask: Place the rubiks cube in the center of the table + subtask_index: 41 + - subtask: Grasp the soap and put it in the left basket + subtask_index: 42 + - subtask: Grasp the grey towel and put it in the right basket + subtask_index: 43 + - subtask: Grasp the blue marker and put it in the left basket + subtask_index: 44 + - subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 45 + - subtask: Grasp the bath ball and put it in the left basket + subtask_index: 46 + - subtask: Grasp the coke and put it in the right basket + subtask_index: 47 + - subtask: Grasp the potato chips and put it in the right basket + subtask_index: 48 + - subtask: Grasp the ballpoint pen and put it in the left basket + subtask_index: 49 + - subtask: Grasp the rubiks cube and put it in the left basket + subtask_index: 50 + - subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 51 + - subtask: Grasp the glasses case and put it in the right basket + subtask_index: 52 + - subtask: Grasp the banana and put it in the right basket + subtask_index: 53 + - subtask: Grasp the ad milk and put it in the right basket + subtask_index: 54 + - subtask: Grasp the soda water and put it in the right basket + subtask_index: 55 + - subtask: Grasp the peach doll and put it in the right basket + subtask_index: 56 + - subtask: Grasp the spoon and put it in the left basket + subtask_index: 57 + - subtask: Grasp the blue marker and put it in the right basket + subtask_index: 58 + - subtask: Grasp the blue cup and put it in the left basket + subtask_index: 59 + - subtask: Grasp the compass and put it in the left basket + subtask_index: 60 + - subtask: Grasp the chocolate and put it in the right basket + subtask_index: 61 + - subtask: Grasp the compass and put it in the right basket + subtask_index: 62 + - subtask: End + subtask_index: 63 + - subtask: Grasp the tape and put it in the left basket + subtask_index: 64 + - subtask: Grasp the peeler and put it in the right basket + subtask_index: 65 + - subtask: Grasp the yogurt and put it in the right basket + subtask_index: 66 + - subtask: Grasp the green lemon and put it in the right basket + subtask_index: 67 + - subtask: Grasp the black marker and put it in the left basket + subtask_index: 68 + - subtask: Grasp the round chewing gum and put it in the right basket + subtask_index: 69 + - subtask: Grasp the bread slice and put it in the right basket + subtask_index: 70 + - subtask: Grasp the square chewing gum and put it in the left basket + subtask_index: 71 + - subtask: 'null' + subtask_index: 72 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 86401 + dataset_size: 5.25 GB + data_structure: 'Galaxea_R1_Lite_classify_object_six_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (93 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml index 59356c9bb156ae5614e16d4cc48dab67ff402b09..281b6bdade9fe9e437c0e9dabd180f676c2c246d 100644 --- a/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml +++ b/dataset_info/Galaxea_R1_Lite_classify_object_three.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: baskets level2: brown_basket @@ -69,153 +69,88 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- place the food in the right basket with the right gripper, and place the non food - items in the left basket with the left gripper. +task_result: 'null' +task_instruction: place the food in the right basket with the right gripper, and place + the non food items in the left basket with the left gripper. sub_tasks: -- subtask: Grasp the rubiks cube and put it in the left basket - subtask_index: 0 -- subtask: Place the tape in the center of the table - subtask_index: 1 -- subtask: Grasp the soft cleanser and put it in the left basket - subtask_index: 2 -- subtask: Grasp the back scratcher and put it in the left basket - subtask_index: 3 -- subtask: Grasp the apple and put it in the right basket - subtask_index: 4 -- subtask: Grasp the yellow marker and put it in the left basket - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: Grasp the white eraser and put it in the left basket - subtask_index: 7 -- subtask: Grasp the power strip and put it in the left basket - subtask_index: 8 -- subtask: Grasp the square chewing gum and put it in the right basket - subtask_index: 9 -- subtask: Grasp the cleaning agent and put it in the left basket - subtask_index: 10 -- subtask: Grasp the blue marker pen and put it in the right basket - subtask_index: 11 -- subtask: Grasp the soda water and put it in the right basket - subtask_index: 12 -- subtask: Grasp the spoon and put it in the left basket - subtask_index: 13 -- subtask: Grasp the duck toys and put it in the left basket - subtask_index: 14 -- subtask: Grasp the blue marker pen and put it in the left basket - subtask_index: 15 -- subtask: Grasp the shampoo and put it in the left basket - subtask_index: 16 -- subtask: Grasp the triangle cake and put it in the right basket - subtask_index: 17 -- subtask: Grasp the brown plate and put it in the left basket - subtask_index: 18 -- subtask: Grasp the cookie and put it in the right basket - subtask_index: 19 -- subtask: Grasp the yellow cake and put it in the right basket - subtask_index: 20 -- subtask: Grasp the shower sphere and put it in the left basket - subtask_index: 21 -- subtask: Grasp the orange and put it in the right basket - subtask_index: 22 -- subtask: Grasp the compass and put it in the left basket - subtask_index: 23 -- subtask: Grasp the round bread and put it in the right basket - subtask_index: 24 -- subtask: Grasp the lemon and put it in the right basket - subtask_index: 25 -- subtask: Grasp the egg yolk pastry and put it in the right basket - subtask_index: 26 -- subtask: Grasp the soap and put it in the left basket - subtask_index: 27 -- subtask: Grasp the washing liquid and put it in the left basket - subtask_index: 28 -- subtask: Grasp the hard cleanser and put it in the left basket - subtask_index: 29 -- subtask: Grasp the milk and put it in the right basket - subtask_index: 30 -- subtask: Grasp the black marker and put it in the left basket - subtask_index: 31 -- subtask: Grasp the banana and put it in the right basket - subtask_index: 32 -- subtask: Grasp the black glass cup and put it in the left basket - subtask_index: 33 -- subtask: Grasp the blue marker and put it in the right basket - subtask_index: 34 -- subtask: Grasp the bath ball and put it in the left basket - subtask_index: 35 -- subtask: Abnormal - subtask_index: 36 -- subtask: Grasp the peeler and put it in the left basket - subtask_index: 37 -- subtask: Grasp the brown towel and put it in the left basket - subtask_index: 38 -- subtask: Grasp the peach and put it in the right basket - subtask_index: 39 -- subtask: Grasp the tea cup and put it in the left basket - subtask_index: 40 -- subtask: Grasp the brush and put it in the left basket - subtask_index: 41 -- subtask: Grasp the chocolate and put it in the right basket - subtask_index: 42 -- subtask: Grasp the grey towel and put it in the left basket - subtask_index: 43 -- subtask: Place the peach doll in the center of the table - subtask_index: 44 -- subtask: Grasp the rubiks cube and put it in the right basket - subtask_index: 45 -- subtask: Grasp the tape and put it in the left basket - subtask_index: 46 -- subtask: Grasp the bread slice and put it in the right basket - subtask_index: 47 -- subtask: Grasp the glasses case and put it in the left basket - subtask_index: 48 -- subtask: Grasp the soda water and put it in the left basket - subtask_index: 49 -- subtask: Grasp the peach doll and put it in the right basket - subtask_index: 50 -- subtask: Grasp the blue cup and put it in the left basket - subtask_index: 51 -- subtask: Grasp the spoon and put it in the right basket - subtask_index: 52 -- subtask: Grasp the pen container and put it in the left basket - subtask_index: 53 -- subtask: Grasp the red duck and put it in the left basket - subtask_index: 54 -- subtask: Grasp the glasses case and put it in the right basket - subtask_index: 55 -- subtask: Grasp the long bread and put it in the right basket - subtask_index: 56 -- subtask: Grasp the yogurt and put it in the right basket - subtask_index: 57 -- subtask: Grasp the potato chips and put it in the right basket - subtask_index: 58 -- subtask: Grasp the can and put it in the right basket - subtask_index: 59 -- subtask: Grasp the long bread and put it in the left basket - subtask_index: 60 -- subtask: Grasp the yellow duck and put it in the left basket - subtask_index: 61 -- subtask: Grasp the coke and put it in the right basket - subtask_index: 62 -- subtask: 'null' - subtask_index: 63 +- Grasp the rubiks cube and put it in the left basket +- Place the tape in the center of the table +- Grasp the soft cleanser and put it in the left basket +- Grasp the back scratcher and put it in the left basket +- Grasp the apple and put it in the right basket +- Grasp the yellow marker and put it in the left basket +- End +- Grasp the white eraser and put it in the left basket +- Grasp the power strip and put it in the left basket +- Grasp the square chewing gum and put it in the right basket +- Grasp the cleaning agent and put it in the left basket +- Grasp the blue marker pen and put it in the right basket +- Grasp the soda water and put it in the right basket +- Grasp the spoon and put it in the left basket +- Grasp the duck toys and put it in the left basket +- Grasp the blue marker pen and put it in the left basket +- Grasp the shampoo and put it in the left basket +- Grasp the triangle cake and put it in the right basket +- Grasp the brown plate and put it in the left basket +- Grasp the cookie and put it in the right basket +- Grasp the yellow cake and put it in the right basket +- Grasp the shower sphere and put it in the left basket +- Grasp the orange and put it in the right basket +- Grasp the compass and put it in the left basket +- Grasp the round bread and put it in the right basket +- Grasp the lemon and put it in the right basket +- Grasp the egg yolk pastry and put it in the right basket +- Grasp the soap and put it in the left basket +- Grasp the washing liquid and put it in the left basket +- Grasp the hard cleanser and put it in the left basket +- Grasp the milk and put it in the right basket +- Grasp the black marker and put it in the left basket +- Grasp the banana and put it in the right basket +- Grasp the black glass cup and put it in the left basket +- Grasp the blue marker and put it in the right basket +- Grasp the bath ball and put it in the left basket +- Abnormal +- Grasp the peeler and put it in the left basket +- Grasp the brown towel and put it in the left basket +- Grasp the peach and put it in the right basket +- Grasp the tea cup and put it in the left basket +- Grasp the brush and put it in the left basket +- Grasp the chocolate and put it in the right basket +- Grasp the grey towel and put it in the left basket +- Place the peach doll in the center of the table +- Grasp the rubiks cube and put it in the right basket +- Grasp the tape and put it in the left basket +- Grasp the bread slice and put it in the right basket +- Grasp the glasses case and put it in the left basket +- Grasp the soda water and put it in the left basket +- Grasp the peach doll and put it in the right basket +- Grasp the blue cup and put it in the left basket +- Grasp the spoon and put it in the right basket +- Grasp the pen container and put it in the left basket +- Grasp the red duck and put it in the left basket +- Grasp the glasses case and put it in the right basket +- Grasp the long bread and put it in the right basket +- Grasp the yogurt and put it in the right basket +- Grasp the potato chips and put it in the right basket +- Grasp the can and put it in the right basket +- Grasp the long bread and put it in the left basket +- Grasp the yellow duck and put it in the left basket +- Grasp the coke and put it in the right basket +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -226,10 +161,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -237,7 +175,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 197 total_frames: 134891 fps: 30 @@ -324,9 +263,11 @@ data_structure: 'Galaxea_R1_Lite_classify_object_three_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:196 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -594,7 +535,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -602,6 +543,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -628,6 +570,308 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_classify_object_three + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - place the food in the right basket with the right gripper, and place the non food + items in the left basket with the left gripper. + sub_tasks: + - subtask: Grasp the rubiks cube and put it in the left basket + subtask_index: 0 + - subtask: Place the tape in the center of the table + subtask_index: 1 + - subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 2 + - subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 3 + - subtask: Grasp the apple and put it in the right basket + subtask_index: 4 + - subtask: Grasp the yellow marker and put it in the left basket + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: Grasp the white eraser and put it in the left basket + subtask_index: 7 + - subtask: Grasp the power strip and put it in the left basket + subtask_index: 8 + - subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 9 + - subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 10 + - subtask: Grasp the blue marker pen and put it in the right basket + subtask_index: 11 + - subtask: Grasp the soda water and put it in the right basket + subtask_index: 12 + - subtask: Grasp the spoon and put it in the left basket + subtask_index: 13 + - subtask: Grasp the duck toys and put it in the left basket + subtask_index: 14 + - subtask: Grasp the blue marker pen and put it in the left basket + subtask_index: 15 + - subtask: Grasp the shampoo and put it in the left basket + subtask_index: 16 + - subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 17 + - subtask: Grasp the brown plate and put it in the left basket + subtask_index: 18 + - subtask: Grasp the cookie and put it in the right basket + subtask_index: 19 + - subtask: Grasp the yellow cake and put it in the right basket + subtask_index: 20 + - subtask: Grasp the shower sphere and put it in the left basket + subtask_index: 21 + - subtask: Grasp the orange and put it in the right basket + subtask_index: 22 + - subtask: Grasp the compass and put it in the left basket + subtask_index: 23 + - subtask: Grasp the round bread and put it in the right basket + subtask_index: 24 + - subtask: Grasp the lemon and put it in the right basket + subtask_index: 25 + - subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 26 + - subtask: Grasp the soap and put it in the left basket + subtask_index: 27 + - subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 28 + - subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 29 + - subtask: Grasp the milk and put it in the right basket + subtask_index: 30 + - subtask: Grasp the black marker and put it in the left basket + subtask_index: 31 + - subtask: Grasp the banana and put it in the right basket + subtask_index: 32 + - subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 33 + - subtask: Grasp the blue marker and put it in the right basket + subtask_index: 34 + - subtask: Grasp the bath ball and put it in the left basket + subtask_index: 35 + - subtask: Abnormal + subtask_index: 36 + - subtask: Grasp the peeler and put it in the left basket + subtask_index: 37 + - subtask: Grasp the brown towel and put it in the left basket + subtask_index: 38 + - subtask: Grasp the peach and put it in the right basket + subtask_index: 39 + - subtask: Grasp the tea cup and put it in the left basket + subtask_index: 40 + - subtask: Grasp the brush and put it in the left basket + subtask_index: 41 + - subtask: Grasp the chocolate and put it in the right basket + subtask_index: 42 + - subtask: Grasp the grey towel and put it in the left basket + subtask_index: 43 + - subtask: Place the peach doll in the center of the table + subtask_index: 44 + - subtask: Grasp the rubiks cube and put it in the right basket + subtask_index: 45 + - subtask: Grasp the tape and put it in the left basket + subtask_index: 46 + - subtask: Grasp the bread slice and put it in the right basket + subtask_index: 47 + - subtask: Grasp the glasses case and put it in the left basket + subtask_index: 48 + - subtask: Grasp the soda water and put it in the left basket + subtask_index: 49 + - subtask: Grasp the peach doll and put it in the right basket + subtask_index: 50 + - subtask: Grasp the blue cup and put it in the left basket + subtask_index: 51 + - subtask: Grasp the spoon and put it in the right basket + subtask_index: 52 + - subtask: Grasp the pen container and put it in the left basket + subtask_index: 53 + - subtask: Grasp the red duck and put it in the left basket + subtask_index: 54 + - subtask: Grasp the glasses case and put it in the right basket + subtask_index: 55 + - subtask: Grasp the long bread and put it in the right basket + subtask_index: 56 + - subtask: Grasp the yogurt and put it in the right basket + subtask_index: 57 + - subtask: Grasp the potato chips and put it in the right basket + subtask_index: 58 + - subtask: Grasp the can and put it in the right basket + subtask_index: 59 + - subtask: Grasp the long bread and put it in the left basket + subtask_index: 60 + - subtask: Grasp the yellow duck and put it in the left basket + subtask_index: 61 + - subtask: Grasp the coke and put it in the right basket + subtask_index: 62 + - subtask: 'null' + subtask_index: 63 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 134891 + dataset_size: 7.32 GB + data_structure: 'Galaxea_R1_Lite_classify_object_three_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (185 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml b/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml index 34d6f71d823de1ccd3d9e0f8284d5e7b5dcea4b2..2b0460085db6d3e94fea509f547cd8a55b6f3adb 100644 --- a/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml +++ b/dataset_info/Galaxea_R1_Lite_fold_towel_twice.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: gray_square_towel level1: daily_necessities level2: gray_square_towel @@ -45,64 +45,44 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- Use the gripper to fold the yellow towel and grey towel in half twice,then put the - yellow towel on the grey towel. +task_result: 'null' +task_instruction: Use the gripper to fold the yellow towel and grey towel in half + twice,then put the yellow towel on the grey towel. sub_tasks: -- subtask: Press the gray towel with the left gripper - subtask_index: 0 -- subtask: Fold the yellow towel from left to right with left gripper - subtask_index: 1 -- subtask: Press the gray towel with the right gripper - subtask_index: 2 -- subtask: Fold the yellow towel upwards with the right gripper - subtask_index: 3 -- subtask: Fold the gray towel from left to right with left gripper - subtask_index: 4 -- subtask: Press the yellow towel with the right gripper - subtask_index: 5 -- subtask: Fold the gray towel from right to left with right gripper - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: Place the yellow towel on the gray towel with the left gripper - subtask_index: 8 -- subtask: Fold the yellow towel upwards with the left gripper - subtask_index: 9 -- subtask: Place the grey towel on the yellow towel with the left gripper - subtask_index: 10 -- subtask: Place the grey towel on the yellow towel with the right gripper - subtask_index: 11 -- subtask: Fold the gray towel upwards with the right gripper - subtask_index: 12 -- subtask: Press the yellow towel with the left gripper - subtask_index: 13 -- subtask: Move the position of the yellow towel with the left gripper - subtask_index: 14 -- subtask: Place the yellow towel on the gray towel with the right gripper - subtask_index: 15 -- subtask: Fold the gray towel upwards with the left gripper - subtask_index: 16 -- subtask: Fold the yellow towel from right to left with right gripper - subtask_index: 17 -- subtask: 'null' - subtask_index: 18 +- Press the gray towel with the left gripper +- Fold the yellow towel from left to right with left gripper +- Press the gray towel with the right gripper +- Fold the yellow towel upwards with the right gripper +- Fold the gray towel from left to right with left gripper +- Press the yellow towel with the right gripper +- Fold the gray towel from right to left with right gripper +- End +- Place the yellow towel on the gray towel with the left gripper +- Fold the yellow towel upwards with the left gripper +- Place the grey towel on the yellow towel with the left gripper +- Place the grey towel on the yellow towel with the right gripper +- Fold the gray towel upwards with the right gripper +- Press the yellow towel with the left gripper +- Move the position of the yellow towel with the left gripper +- Place the yellow towel on the gray towel with the right gripper +- Fold the gray towel upwards with the left gripper +- Fold the yellow towel from right to left with right gripper +- 'null' atomic_actions: - grasp - pick - place - fold -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -113,10 +93,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -124,7 +107,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 46 total_frames: 50022 fps: 30 @@ -211,9 +195,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_fold_towel_twice_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:45 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -481,7 +467,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -489,6 +475,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -515,6 +502,219 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_fold_towel_twice + dataset_uuid: eb818363-8a30-492c-8639-78589399913b + scene_type: + level1: household + level2: bedroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - Use the gripper to fold the yellow towel and grey towel in half twice,then put + the yellow towel on the grey towel. + sub_tasks: + - subtask: Press the gray towel with the left gripper + subtask_index: 0 + - subtask: Fold the yellow towel from left to right with left gripper + subtask_index: 1 + - subtask: Press the gray towel with the right gripper + subtask_index: 2 + - subtask: Fold the yellow towel upwards with the right gripper + subtask_index: 3 + - subtask: Fold the gray towel from left to right with left gripper + subtask_index: 4 + - subtask: Press the yellow towel with the right gripper + subtask_index: 5 + - subtask: Fold the gray towel from right to left with right gripper + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: Place the yellow towel on the gray towel with the left gripper + subtask_index: 8 + - subtask: Fold the yellow towel upwards with the left gripper + subtask_index: 9 + - subtask: Place the grey towel on the yellow towel with the left gripper + subtask_index: 10 + - subtask: Place the grey towel on the yellow towel with the right gripper + subtask_index: 11 + - subtask: Fold the gray towel upwards with the right gripper + subtask_index: 12 + - subtask: Press the yellow towel with the left gripper + subtask_index: 13 + - subtask: Move the position of the yellow towel with the left gripper + subtask_index: 14 + - subtask: Place the yellow towel on the gray towel with the right gripper + subtask_index: 15 + - subtask: Fold the gray towel upwards with the left gripper + subtask_index: 16 + - subtask: Fold the yellow towel from right to left with right gripper + subtask_index: 17 + - subtask: 'null' + subtask_index: 18 + atomic_actions: + - grasp + - pick + - place + - fold + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 50022 + dataset_size: 2.14 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_fold_towel_twice_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (34 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml index 360ff9d3ad10656552be673faf349eb41a4eabf3..86d33abbe5c187850b765ecd3b3c584fa7302322 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,48 +69,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with blue pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + blue pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 0 -- subtask: Pour the yellow reagent into the graduated cylinder and place the test - tube into the paper cup - subtask_index: 1 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 2 -- subtask: Pour the blue reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 3 -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Place the test tube into the paper cup with the right gripper - subtask_index: 6 -- subtask: Place the test tube into the paper cup with the left gripper - subtask_index: 7 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Grasp the yellow reagent with the right gripper +- Pour the yellow reagent into the graduated cylinder and place the test tube into + the paper cup +- Pour the yellow reagent into the graduated cylinder with the right gripper +- Pour the blue reagent into the graduated cylinder and place the test tube into the + paper cup +- Pour the blue reagent into the graduated cylinder with the left gripper +- End +- Place the test tube into the paper cup with the right gripper +- Place the test tube into the paper cup with the left gripper +- Grasp the blue reagent with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -121,10 +110,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -132,7 +124,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 51 total_frames: 29341 fps: 30 @@ -219,9 +212,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_large_test_tube |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:50 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -489,7 +484,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -497,6 +492,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -523,6 +519,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_blue_yellow_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with blue pigment + by grippers and pour them into the beaker. + sub_tasks: + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 0 + - subtask: Pour the yellow reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 1 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 2 + - subtask: Pour the blue reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 3 + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Place the test tube into the paper cup with the right gripper + subtask_index: 6 + - subtask: Place the test tube into the paper cup with the left gripper + subtask_index: 7 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 29341 + dataset_size: 1.59 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (39 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml index ef174ee9a4186ad9f27d9ecd713d29c8d04be797..fd07ef2a9b53fb44de26f1817e3d24fcc851d87e 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,40 +69,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with blue pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + blue pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 0 -- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: Grasp the yellow reagent with the left gripper - subtask_index: 2 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the test tube into the bowl with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the yellow reagent into the graduated cylinder with the left gripper +- Grasp the yellow reagent with the left gripper +- Grasp the blue reagent with the left gripper +- End +- Place the test tube into the bowl with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -113,10 +105,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -124,7 +119,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 45568 fps: 30 @@ -211,9 +207,11 @@ data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -481,7 +479,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -489,6 +487,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -515,6 +514,195 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with blue pigment + by grippers and pour them into the beaker. + sub_tasks: + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 0 + - subtask: Pour the yellow reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: Grasp the yellow reagent with the left gripper + subtask_index: 2 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the test tube into the bowl with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 45568 + dataset_size: 1.54 GB + data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml index e2f6811bb14aa5cb3afa5fe4b0c20a5e4268ab52..6d25f441661d84e82f4160c645ee1837037e623d 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,42 +69,33 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with blue pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + blue pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 0 -- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: Grasp the yellow reagent with the left gripper - subtask_index: 2 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the test tube into the brown cup with the left gripper - subtask_index: 5 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the yellow reagent into the graduated cylinder with the left gripper +- Grasp the yellow reagent with the left gripper +- Grasp the blue reagent with the left gripper +- End +- Place the test tube into the brown cup with the left gripper +- Grasp the red reagent with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -115,10 +106,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -126,7 +120,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 33650 fps: 30 @@ -213,9 +208,11 @@ data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -483,7 +480,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -491,6 +488,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -517,6 +515,197 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with blue pigment + by grippers and pour them into the beaker. + sub_tasks: + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 0 + - subtask: Pour the yellow reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: Grasp the yellow reagent with the left gripper + subtask_index: 2 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the test tube into the brown cup with the left gripper + subtask_index: 5 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 33650 + dataset_size: 1.50 GB + data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml index 173f54dabad5b0445cf1578fccf2fa7f89d6c8cf..db98b3dc7850b31bbf8e9a5304147076b995a651 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,60 +69,42 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with blue pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + blue pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Place the test tube into the bowl with right gripper - subtask_index: 1 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 2 -- subtask: Pour the blue reagent into the graduated cylinder with right gripper - subtask_index: 3 -- subtask: Pick up the test tube containing the yellow reagent with right gripper - subtask_index: 4 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 5 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 6 -- subtask: Place the test tube into the bowl with the right gripper - subtask_index: 7 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 8 -- subtask: End - subtask_index: 9 -- subtask: Pour the blue reagent into the graduated cylinder with the right gripper - subtask_index: 10 -- subtask: Pour the yellow reagent into the graduated cylinder with right gripper - subtask_index: 11 -- subtask: Pick up the test tube containing the blue reagent with right gripper - subtask_index: 12 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 13 -- subtask: end - subtask_index: 14 -- subtask: Grasp the blue reagent with the right gripper - subtask_index: 15 -- subtask: 'null' - subtask_index: 16 +- Abnormal +- Place the test tube into the bowl with right gripper +- Grasp the red reagent with the left gripper +- Pour the blue reagent into the graduated cylinder with right gripper +- Pick up the test tube containing the yellow reagent with right gripper +- Grasp the yellow reagent with the right gripper +- Grasp the red reagent with the right gripper +- Place the test tube into the bowl with the right gripper +- Pour the yellow reagent into the graduated cylinder with the right gripper +- End +- Pour the blue reagent into the graduated cylinder with the right gripper +- Pour the yellow reagent into the graduated cylinder with right gripper +- Pick up the test tube containing the blue reagent with right gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- end +- Grasp the blue reagent with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -133,10 +115,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -144,7 +129,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 32657 fps: 30 @@ -231,9 +217,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_right_qced_hard |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -501,7 +489,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -509,6 +497,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -535,6 +524,215 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_blue_yellow_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with blue pigment + by grippers and pour them into the beaker. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Place the test tube into the bowl with right gripper + subtask_index: 1 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 2 + - subtask: Pour the blue reagent into the graduated cylinder with right gripper + subtask_index: 3 + - subtask: Pick up the test tube containing the yellow reagent with right gripper + subtask_index: 4 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 5 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 6 + - subtask: Place the test tube into the bowl with the right gripper + subtask_index: 7 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 8 + - subtask: End + subtask_index: 9 + - subtask: Pour the blue reagent into the graduated cylinder with the right gripper + subtask_index: 10 + - subtask: Pour the yellow reagent into the graduated cylinder with right gripper + subtask_index: 11 + - subtask: Pick up the test tube containing the blue reagent with right gripper + subtask_index: 12 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 13 + - subtask: end + subtask_index: 14 + - subtask: Grasp the blue reagent with the right gripper + subtask_index: 15 + - subtask: 'null' + subtask_index: 16 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 32657 + dataset_size: 665.69 MB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_color.yaml b/dataset_info/Galaxea_R1_Lite_mix_color.yaml index 4136a5cf3fa00dbcb342f3fc28a162803cb66e3e..0a5df85d6c69988171ebf591ff794b5d8766a1d8 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_color.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_color.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,62 +69,45 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with red pigment the test tube with blue pigment and the test - tube with white pigment by grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with red pigment the test tube with blue pigment + and the test tube with white pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Pour the red reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 0 -- subtask: Pour the orange reagent into the graduated cylinder and place the test - tube into the paper cup - subtask_index: 1 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 2 -- subtask: Pour the white reagent into the graduated cylinder with the right gripper - subtask_index: 3 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 4 -- subtask: Pour the blue reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 5 -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 6 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 7 -- subtask: End - subtask_index: 8 -- subtask: Place the test tube into the paper cup with the right gripper - subtask_index: 9 -- subtask: Place the test tube into the paper cup with the left gripper - subtask_index: 10 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 11 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 12 -- subtask: Grasp the white reagent with the right gripper - subtask_index: 13 -- subtask: Pour the white reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 14 -- subtask: 'null' - subtask_index: 15 +- Pour the red reagent into the graduated cylinder and place the test tube into the + paper cup +- Pour the orange reagent into the graduated cylinder and place the test tube into + the paper cup +- Grasp the red reagent with the left gripper +- Pour the white reagent into the graduated cylinder with the right gripper +- Grasp the red reagent with the right gripper +- Pour the blue reagent into the graduated cylinder and place the test tube into the + paper cup +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- End +- Place the test tube into the paper cup with the right gripper +- Place the test tube into the paper cup with the left gripper +- Grasp the blue reagent with the left gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- Grasp the white reagent with the right gripper +- Pour the white reagent into the graduated cylinder and place the test tube into + the paper cup +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -135,10 +118,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -146,7 +132,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 79584 fps: 30 @@ -233,9 +220,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_color_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -503,7 +492,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -511,6 +500,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -537,6 +527,217 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_color + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with red pigment the test tube with blue pigment and the + test tube with white pigment by grippers and pour them into the beaker. + sub_tasks: + - subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup + subtask_index: 0 + - subtask: Pour the orange reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 1 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 2 + - subtask: Pour the white reagent into the graduated cylinder with the right gripper + subtask_index: 3 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 4 + - subtask: Pour the blue reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 5 + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 6 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 7 + - subtask: End + subtask_index: 8 + - subtask: Place the test tube into the paper cup with the right gripper + subtask_index: 9 + - subtask: Place the test tube into the paper cup with the left gripper + subtask_index: 10 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 11 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 12 + - subtask: Grasp the white reagent with the right gripper + subtask_index: 13 + - subtask: Pour the white reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 14 + - subtask: 'null' + subtask_index: 15 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 79584 + dataset_size: 2.99 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_color_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml index 245c084aab462f11e75a91037940497033790230..52585d2526623db4c3537707ac9592009494052b 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_color_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: red_pigment level1: materials level2: red_pigment @@ -69,50 +69,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up a test tube with pigment on left test tube rack and a test tube with pigment - on right test tube rack by grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up a test tube with pigment on left test tube rack and a test + tube with pigment on right test tube rack by grippers and pour them into the beaker. sub_tasks: -- subtask: Place the test tube into the paper cup with the left gripper - subtask_index: 0 -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 2 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 3 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Place the test tube into the paper cup with the right gripper - subtask_index: 6 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 7 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 8 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 9 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Place the test tube into the paper cup with the left gripper +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- Grasp the blue reagent with the left gripper +- End +- Place the test tube into the paper cup with the right gripper +- Grasp the yellow reagent with the right gripper +- Pour the yellow reagent into the graduated cylinder with the right gripper +- Grasp the red reagent with the left gripper +- Grasp the red reagent with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -123,10 +110,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -134,7 +124,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 121 total_frames: 131656 fps: 30 @@ -221,9 +212,11 @@ data_structure: 'Galaxea_R1_Lite_mix_color_large_test_tube_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:120 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -491,7 +484,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -499,6 +492,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -525,6 +519,205 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_color_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up a test tube with pigment on left test tube rack and a test tube with pigment + on right test tube rack by grippers and pour them into the beaker. + sub_tasks: + - subtask: Place the test tube into the paper cup with the left gripper + subtask_index: 0 + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 2 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 3 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Place the test tube into the paper cup with the right gripper + subtask_index: 6 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 7 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 8 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 9 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 131656 + dataset_size: 4.70 GB + data_structure: 'Galaxea_R1_Lite_mix_color_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (109 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml index 322509cacd9d2c21d931b4d40c77d263e5c3267c..e4e38b2e7066134a6cac54b7a7cf7df8cc4bdb8f 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_color_small_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -63,58 +63,41 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with red pigment and the test tube with blue pigment by grippers - and pour them into the container. +task_result: 'null' +task_instruction: pick up the test tube with red pigment and the test tube with blue + pigment by grippers and pour them into the container. sub_tasks: -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 0 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper - subtask_index: 2 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 3 -- subtask: Grasp the yellow reagent with the left gripper - subtask_index: 4 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: Pour the blue reagent into the graduated cylinder with the right gripper - subtask_index: 7 -- subtask: Place the test tube into the brown cup with the left gripper - subtask_index: 8 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 9 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 10 -- subtask: Grasp the blue reagent with the right gripper - subtask_index: 11 -- subtask: Place the test tube into the brown cup with the right gripper - subtask_index: 12 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 13 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 14 -- subtask: 'null' - subtask_index: 15 +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- Pour the yellow reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- Grasp the yellow reagent with the left gripper +- Grasp the blue reagent with the left gripper +- End +- Pour the blue reagent into the graduated cylinder with the right gripper +- Place the test tube into the brown cup with the left gripper +- Grasp the yellow reagent with the right gripper +- Pour the yellow reagent into the graduated cylinder with the right gripper +- Grasp the blue reagent with the right gripper +- Place the test tube into the brown cup with the right gripper +- Grasp the red reagent with the left gripper +- Grasp the red reagent with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -125,10 +108,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -136,7 +122,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 203 total_frames: 147521 fps: 30 @@ -223,9 +210,11 @@ data_structure: 'Galaxea_R1_Lite_mix_color_small_test_tube_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:202 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -493,7 +482,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -501,6 +490,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -527,6 +517,213 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_color_small_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with red pigment and the test tube with blue pigment by + grippers and pour them into the container. + sub_tasks: + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 0 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: Pour the yellow reagent into the graduated cylinder with the left gripper + subtask_index: 2 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 3 + - subtask: Grasp the yellow reagent with the left gripper + subtask_index: 4 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: Pour the blue reagent into the graduated cylinder with the right gripper + subtask_index: 7 + - subtask: Place the test tube into the brown cup with the left gripper + subtask_index: 8 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 9 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 10 + - subtask: Grasp the blue reagent with the right gripper + subtask_index: 11 + - subtask: Place the test tube into the brown cup with the right gripper + subtask_index: 12 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 13 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 14 + - subtask: 'null' + subtask_index: 15 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 147521 + dataset_size: 6.71 GB + data_structure: 'Galaxea_R1_Lite_mix_color_small_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (191 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml index 91aa6f2194b155cd61839a32f0f1387421a44486..05c194af727eef114c4d166613c466903eaa19f3 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,48 +69,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with red pigment and the test tube with blue pigment by grippers - and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with red pigment and the test tube with blue + pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Pour the red reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 0 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 1 -- subtask: Pour the blue reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 2 -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Place the test tube into the paper cup with the right gripper - subtask_index: 5 -- subtask: Place the test tube into the paper cup with the left gripper - subtask_index: 6 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 7 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Pour the red reagent into the graduated cylinder and place the test tube into the + paper cup +- Grasp the red reagent with the right gripper +- Pour the blue reagent into the graduated cylinder and place the test tube into the + paper cup +- Pour the blue reagent into the graduated cylinder with the left gripper +- End +- Place the test tube into the paper cup with the right gripper +- Place the test tube into the paper cup with the left gripper +- Grasp the blue reagent with the left gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -121,10 +110,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -132,7 +124,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 28433 fps: 30 @@ -219,9 +212,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_large_test_tube_qc |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -489,7 +484,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -497,6 +492,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -523,6 +519,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_blue_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with red pigment and the test tube with blue pigment by + grippers and pour them into the beaker. + sub_tasks: + - subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup + subtask_index: 0 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 1 + - subtask: Pour the blue reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 2 + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Place the test tube into the paper cup with the right gripper + subtask_index: 5 + - subtask: Place the test tube into the paper cup with the left gripper + subtask_index: 6 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 7 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28433 + dataset_size: 1.57 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml index 808905cc3259ba3be5d7934d84563f647b710b6b..0ab52f11796107c66fde336b893d7ea75d691134 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_left_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,40 +69,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with red pigment and the test tube with blue pigment by grippers - and pour them into the container. +task_result: 'null' +task_instruction: pick up the test tube with red pigment and the test tube with blue + pigment by grippers and pour them into the container. sub_tasks: -- subtask: Pour the blue reagent into the graduated cylinder with the left gripper - subtask_index: 0 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: Grasp the blue reagent with the left gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the test tube into the bowl with the left gripper - subtask_index: 4 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Pour the blue reagent into the graduated cylinder with the left gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- Grasp the blue reagent with the left gripper +- End +- Place the test tube into the bowl with the left gripper +- Grasp the red reagent with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -113,10 +105,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -124,7 +119,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 46733 fps: 30 @@ -211,9 +207,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_left_large_test_tu |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -481,7 +479,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -489,6 +487,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -515,6 +514,195 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_blue_left_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with red pigment and the test tube with blue pigment by + grippers and pour them into the container. + sub_tasks: + - subtask: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 0 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: Grasp the blue reagent with the left gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the test tube into the bowl with the left gripper + subtask_index: 4 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 46733 + dataset_size: 1.57 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml index 07c1dcc404e39f0eff7012451ba8894ba91d35fb..bb56fe8b0e04d44b82fedf4a600b6c713206a2f0 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_blue_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: red_pigment level1: materials level2: red_pigment @@ -69,56 +69,40 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with red pigment and the test tube with blue pigment by grippers - and pour them into the container. +task_result: 'null' +task_instruction: pick up the test tube with red pigment and the test tube with blue + pigment by grippers and pour them into the container. sub_tasks: -- subtask: Pour the red reagent into the graduated cylinder with right gripper - subtask_index: 0 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 1 -- subtask: Pick up the test tube containing the red reagent with right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the test tube into the bowl with right gripper - subtask_index: 4 -- subtask: Pour the blue reagent into the graduated cylinder with the right gripper - subtask_index: 5 -- subtask: Pick up the test tube containing the blue reagent with right gripper - subtask_index: 6 -- subtask: Pour the blue reagent into the graduated cylinder with right gripper - subtask_index: 7 -- subtask: Grasp the blue reagent with the right gripper - subtask_index: 8 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 9 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 10 -- subtask: end - subtask_index: 11 -- subtask: Place the test tube into the bowl with the right gripper - subtask_index: 12 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 13 -- subtask: 'null' - subtask_index: 14 +- Pour the red reagent into the graduated cylinder with right gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- Pick up the test tube containing the red reagent with right gripper +- End +- Place the test tube into the bowl with right gripper +- Pour the blue reagent into the graduated cylinder with the right gripper +- Pick up the test tube containing the blue reagent with right gripper +- Pour the blue reagent into the graduated cylinder with right gripper +- Grasp the blue reagent with the right gripper +- Grasp the yellow reagent with the right gripper +- Pour the yellow reagent into the graduated cylinder with the right gripper +- end +- Place the test tube into the bowl with the right gripper +- Grasp the red reagent with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -129,10 +113,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -140,7 +127,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 32072 fps: 30 @@ -227,9 +215,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_right_qced_hardlin |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -497,7 +487,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -505,6 +495,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -531,6 +522,211 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_blue_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with red pigment and the test tube with blue pigment by + grippers and pour them into the container. + sub_tasks: + - subtask: Pour the red reagent into the graduated cylinder with right gripper + subtask_index: 0 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 1 + - subtask: Pick up the test tube containing the red reagent with right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the test tube into the bowl with right gripper + subtask_index: 4 + - subtask: Pour the blue reagent into the graduated cylinder with the right gripper + subtask_index: 5 + - subtask: Pick up the test tube containing the blue reagent with right gripper + subtask_index: 6 + - subtask: Pour the blue reagent into the graduated cylinder with right gripper + subtask_index: 7 + - subtask: Grasp the blue reagent with the right gripper + subtask_index: 8 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 9 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 10 + - subtask: end + subtask_index: 11 + - subtask: Place the test tube into the bowl with the right gripper + subtask_index: 12 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 13 + - subtask: 'null' + subtask_index: 14 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 32072 + dataset_size: 647.52 MB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml index 7ef4d70c1a9a346a298b496b73817102fcf8ee29..63de8b66141bff796e7050be1e5a44817ddcc1f9 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,48 +69,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with red pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + red pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Pour the red reagent into the graduated cylinder and place the test tube - into the paper cup - subtask_index: 0 -- subtask: Grasp the red reagent with the left gripper - subtask_index: 1 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 2 -- subtask: Pour the yellow reagent into the graduated cylinder and place the test - tube into the paper cup - subtask_index: 3 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 4 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: Place the test tube into the paper cup with the right gripper - subtask_index: 7 -- subtask: Place the test tube into the paper cup with the left gripper - subtask_index: 8 -- subtask: 'null' - subtask_index: 9 +- Pour the red reagent into the graduated cylinder and place the test tube into the + paper cup +- Grasp the red reagent with the left gripper +- Grasp the yellow reagent with the right gripper +- Pour the yellow reagent into the graduated cylinder and place the test tube into + the paper cup +- Pour the yellow reagent into the graduated cylinder with the right gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- End +- Place the test tube into the paper cup with the right gripper +- Place the test tube into the paper cup with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -121,10 +110,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -132,7 +124,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 28289 fps: 30 @@ -219,9 +212,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_large_test_tube_ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -489,7 +484,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -497,6 +492,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -523,6 +519,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_yellow_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office&workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with red pigment by + grippers and pour them into the beaker. + sub_tasks: + - subtask: Pour the red reagent into the graduated cylinder and place the test tube + into the paper cup + subtask_index: 0 + - subtask: Grasp the red reagent with the left gripper + subtask_index: 1 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 2 + - subtask: Pour the yellow reagent into the graduated cylinder and place the test + tube into the paper cup + subtask_index: 3 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 4 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: Place the test tube into the paper cup with the right gripper + subtask_index: 7 + - subtask: Place the test tube into the paper cup with the left gripper + subtask_index: 8 + - subtask: 'null' + subtask_index: 9 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 28289 + dataset_size: 1.58 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml index 20662f5708abdfcc8ab7f883033cf83624dd0ff0..062da383a4a4817d51a17da620fd802607d6af6a 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,40 +69,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with red pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + red pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Grasp the red reagent with the left gripper - subtask_index: 0 -- subtask: Pour the red reagent into the graduated cylinder with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Place the test tube into the pink bowl with the left gripper - subtask_index: 3 -- subtask: Grasp the yellow reagent with the left gripper - subtask_index: 4 -- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the red reagent with the left gripper +- Pour the red reagent into the graduated cylinder with the left gripper +- End +- Place the test tube into the pink bowl with the left gripper +- Grasp the yellow reagent with the left gripper +- Pour the yellow reagent into the graduated cylinder with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -113,10 +105,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -124,7 +119,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 89688 fps: 30 @@ -211,9 +207,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_left_large_test_ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -481,7 +479,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -489,6 +487,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -515,6 +514,195 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with red pigment by + grippers and pour them into the beaker. + sub_tasks: + - subtask: Grasp the red reagent with the left gripper + subtask_index: 0 + - subtask: Pour the red reagent into the graduated cylinder with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Place the test tube into the pink bowl with the left gripper + subtask_index: 3 + - subtask: Grasp the yellow reagent with the left gripper + subtask_index: 4 + - subtask: Pour the yellow reagent into the graduated cylinder with the left gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 89688 + dataset_size: 2.93 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml index d481025b6913b9de04dffedd64519f072564b8fd..9b6e379ee5670b8b3b862e596eeac2b33f3af0f5 100644 --- a/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml +++ b/dataset_info/Galaxea_R1_Lite_mix_red_yellow_right.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_pigment level1: materials level2: blue_pigment @@ -69,54 +69,39 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- pick up the test tube with yellow pigment and the test tube with red pigment by - grippers and pour them into the beaker. +task_result: 'null' +task_instruction: pick up the test tube with yellow pigment and the test tube with + red pigment by grippers and pour them into the beaker. sub_tasks: -- subtask: Place the test tube into the bowl with right gripper - subtask_index: 0 -- subtask: Pick up the test tube containing the yellow reagent with right gripper - subtask_index: 1 -- subtask: Place the test tube into the pink bowl with the right gripper - subtask_index: 2 -- subtask: Grasp the yellow reagent with the right gripper - subtask_index: 3 -- subtask: Grasp the red reagent with the right gripper - subtask_index: 4 -- subtask: Pick up the test tube containing the red reagent with right gripper - subtask_index: 5 -- subtask: Place the test tube into the bowl with the right gripper - subtask_index: 6 -- subtask: Pour the yellow reagent into the graduated cylinder with the right gripper - subtask_index: 7 -- subtask: Pour the red reagent into the graduated cylinder with right gripper - subtask_index: 8 -- subtask: End - subtask_index: 9 -- subtask: Pour the yellow reagent into the graduated cylinder with right gripper - subtask_index: 10 -- subtask: Pour the red reagent into the graduated cylinder with the right gripper - subtask_index: 11 -- subtask: end - subtask_index: 12 -- subtask: 'null' - subtask_index: 13 +- Place the test tube into the bowl with right gripper +- Pick up the test tube containing the yellow reagent with right gripper +- Place the test tube into the pink bowl with the right gripper +- Grasp the yellow reagent with the right gripper +- Grasp the red reagent with the right gripper +- Pick up the test tube containing the red reagent with right gripper +- Place the test tube into the bowl with the right gripper +- Pour the yellow reagent into the graduated cylinder with the right gripper +- Pour the red reagent into the graduated cylinder with right gripper +- End +- Pour the yellow reagent into the graduated cylinder with right gripper +- Pour the red reagent into the graduated cylinder with the right gripper +- end +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -127,10 +112,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -138,7 +126,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 61864 fps: 30 @@ -225,9 +214,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_right_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -495,7 +486,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -503,6 +494,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -529,6 +521,209 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_mix_red_yellow_right + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - pick up the test tube with yellow pigment and the test tube with red pigment by + grippers and pour them into the beaker. + sub_tasks: + - subtask: Place the test tube into the bowl with right gripper + subtask_index: 0 + - subtask: Pick up the test tube containing the yellow reagent with right gripper + subtask_index: 1 + - subtask: Place the test tube into the pink bowl with the right gripper + subtask_index: 2 + - subtask: Grasp the yellow reagent with the right gripper + subtask_index: 3 + - subtask: Grasp the red reagent with the right gripper + subtask_index: 4 + - subtask: Pick up the test tube containing the red reagent with right gripper + subtask_index: 5 + - subtask: Place the test tube into the bowl with the right gripper + subtask_index: 6 + - subtask: Pour the yellow reagent into the graduated cylinder with the right gripper + subtask_index: 7 + - subtask: Pour the red reagent into the graduated cylinder with right gripper + subtask_index: 8 + - subtask: End + subtask_index: 9 + - subtask: Pour the yellow reagent into the graduated cylinder with right gripper + subtask_index: 10 + - subtask: Pour the red reagent into the graduated cylinder with the right gripper + subtask_index: 11 + - subtask: end + subtask_index: 12 + - subtask: 'null' + subtask_index: 13 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 61864 + dataset_size: 1.22 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_right_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_move_mouse.yaml b/dataset_info/Galaxea_R1_Lite_move_mouse.yaml index 380850ed30b29bffd350adf6878d17b9aadac1e6..6e12f2a62356f0c6aa1492d8c4659a629c4febd0 100644 --- a/dataset_info/Galaxea_R1_Lite_move_mouse.yaml +++ b/dataset_info/Galaxea_R1_Lite_move_mouse.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: mouse level1: computer_peripherals level2: mouse @@ -45,33 +45,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to place the mouse on the left side of the table onto the mouse - pad on the right side. +task_result: 'null' +task_instruction: use the left gripper to place the mouse on the left side of the + table onto the mouse pad on the right side. sub_tasks: -- subtask: Grasp the mouse with the left gripper - subtask_index: 0 -- subtask: Place the mouse on the mouse pad with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- Grasp the mouse with the left gripper +- Place the mouse on the mouse pad with the left gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -82,10 +77,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -93,7 +91,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 30 total_frames: 8927 fps: 30 @@ -180,9 +179,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_move_mouse_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:29 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -450,7 +451,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -458,6 +459,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -484,6 +486,188 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_move_mouse + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to place the mouse on the left side of the table onto the + mouse pad on the right side. + sub_tasks: + - subtask: Grasp the mouse with the left gripper + subtask_index: 0 + - subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 8927 + dataset_size: 219.01 MB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_move_mouse_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (18 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml index 4ffcb825466ab0908f04af8d89447856dd20e84a..11b73ec68488f8273dd50c7946252f1385e47adf 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: marble_bar_counter level1: furniture level2: marble_bar_counter @@ -63,95 +63,60 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick up the cup and pour the liquid into a bowl or tray. +task_result: 'null' +task_instruction: use a gripper to pick up the cup and pour the liquid into a bowl + or tray. sub_tasks: -- subtask: Pour the orange juice into the pink bowl with left gripper - subtask_index: 0 -- subtask: Pour the black tea into the pink bowl with the right gripper - subtask_index: 1 -- subtask: Grasp the glass of black tea with the right gripper - subtask_index: 2 -- subtask: Pour the orange juice into the blue basin with right gripper - subtask_index: 3 -- subtask: Left gripper - subtask_index: 4 -- subtask: Pour the tea into the pink bowl with left gripper - subtask_index: 5 -- subtask: Grasp the glass of orange juice with the right gripper - subtask_index: 6 -- subtask: Pour the tea into the pink bowl with right gripper - subtask_index: 7 -- subtask: Pick up blue cup filled with tea with right gripper - subtask_index: 8 -- subtask: Pour the orange juice into the pink bowl with the right gripper - subtask_index: 9 -- subtask: Pour the orange juice into the pink bowl with the left gripper - subtask_index: 10 -- subtask: Pour the orange juice into the blue basin with left gripper - subtask_index: 11 -- subtask: Pour the orange juice into the green bowl with the right gripper - subtask_index: 12 -- subtask: Place blue cup with tea on the table with right gripper - subtask_index: 13 -- subtask: Pour the orange juice into the green bowl with the left gripper - subtask_index: 14 -- subtask: Pour the orange juice into the pink bowl with right gripper - subtask_index: 15 -- subtask: Place blue cup with orange juice on the table with right gripper - subtask_index: 16 -- subtask: Pour the black tea into the green bowl with the right gripper - subtask_index: 17 -- subtask: Pick up blue cup filled with orange juice with right gripper - subtask_index: 18 -- subtask: Place blue cup with orange juice on the table with left gripper - subtask_index: 19 -- subtask: Grasp the glass of black tea with the left gripper - subtask_index: 20 -- subtask: Pour the black tea into the green bowl with the left gripper - subtask_index: 21 -- subtask: Pour the tea into the blue basin with right gripper - subtask_index: 22 -- subtask: Pick up blue cup filled with tea with left gripper - subtask_index: 23 -- subtask: Pour the tea into the blue basin with left gripper - subtask_index: 24 -- subtask: Pour the black tea into the pink bowl with the left gripper - subtask_index: 25 -- subtask: Grasp the glass of orange juice with the left gripper - subtask_index: 26 -- subtask: Place the glass cup with the right gripper - subtask_index: 27 -- subtask: Pick up blue cup filled with orange juice with left gripper - subtask_index: 28 -- subtask: End - subtask_index: 29 -- subtask: Place blue cup with shrimp on the table with right gripper - subtask_index: 30 -- subtask: Right gripper - subtask_index: 31 -- subtask: Place blue cup with tea on the table with left gripper - subtask_index: 32 -- subtask: Place the glass cup with the left gripper - subtask_index: 33 -- subtask: 'null' - subtask_index: 34 +- Pour the orange juice into the pink bowl with left gripper +- Pour the black tea into the pink bowl with the right gripper +- Grasp the glass of black tea with the right gripper +- Pour the orange juice into the blue basin with right gripper +- Left gripper +- Pour the tea into the pink bowl with left gripper +- Grasp the glass of orange juice with the right gripper +- Pour the tea into the pink bowl with right gripper +- Pick up blue cup filled with tea with right gripper +- Pour the orange juice into the pink bowl with the right gripper +- Pour the orange juice into the pink bowl with the left gripper +- Pour the orange juice into the blue basin with left gripper +- Pour the orange juice into the green bowl with the right gripper +- Place blue cup with tea on the table with right gripper +- Pour the orange juice into the green bowl with the left gripper +- Pour the orange juice into the pink bowl with right gripper +- Place blue cup with orange juice on the table with right gripper +- Pour the black tea into the green bowl with the right gripper +- Pick up blue cup filled with orange juice with right gripper +- Place blue cup with orange juice on the table with left gripper +- Grasp the glass of black tea with the left gripper +- Pour the black tea into the green bowl with the left gripper +- Pour the tea into the blue basin with right gripper +- Pick up blue cup filled with tea with left gripper +- Pour the tea into the blue basin with left gripper +- Pour the black tea into the pink bowl with the left gripper +- Grasp the glass of orange juice with the left gripper +- Place the glass cup with the right gripper +- Pick up blue cup filled with orange juice with left gripper +- End +- Place blue cup with shrimp on the table with right gripper +- Right gripper +- Place blue cup with tea on the table with left gripper +- Place the glass cup with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -162,10 +127,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -173,7 +141,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 43652 fps: 30 @@ -260,9 +229,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_liquid_mrable_bar_counter_ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -530,7 +501,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -538,6 +509,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -564,6 +536,250 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_liquid_mrable_bar_counter + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: househhold + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick up the cup and pour the liquid into a bowl or tray. + sub_tasks: + - subtask: Pour the orange juice into the pink bowl with left gripper + subtask_index: 0 + - subtask: Pour the black tea into the pink bowl with the right gripper + subtask_index: 1 + - subtask: Grasp the glass of black tea with the right gripper + subtask_index: 2 + - subtask: Pour the orange juice into the blue basin with right gripper + subtask_index: 3 + - subtask: Left gripper + subtask_index: 4 + - subtask: Pour the tea into the pink bowl with left gripper + subtask_index: 5 + - subtask: Grasp the glass of orange juice with the right gripper + subtask_index: 6 + - subtask: Pour the tea into the pink bowl with right gripper + subtask_index: 7 + - subtask: Pick up blue cup filled with tea with right gripper + subtask_index: 8 + - subtask: Pour the orange juice into the pink bowl with the right gripper + subtask_index: 9 + - subtask: Pour the orange juice into the pink bowl with the left gripper + subtask_index: 10 + - subtask: Pour the orange juice into the blue basin with left gripper + subtask_index: 11 + - subtask: Pour the orange juice into the green bowl with the right gripper + subtask_index: 12 + - subtask: Place blue cup with tea on the table with right gripper + subtask_index: 13 + - subtask: Pour the orange juice into the green bowl with the left gripper + subtask_index: 14 + - subtask: Pour the orange juice into the pink bowl with right gripper + subtask_index: 15 + - subtask: Place blue cup with orange juice on the table with right gripper + subtask_index: 16 + - subtask: Pour the black tea into the green bowl with the right gripper + subtask_index: 17 + - subtask: Pick up blue cup filled with orange juice with right gripper + subtask_index: 18 + - subtask: Place blue cup with orange juice on the table with left gripper + subtask_index: 19 + - subtask: Grasp the glass of black tea with the left gripper + subtask_index: 20 + - subtask: Pour the black tea into the green bowl with the left gripper + subtask_index: 21 + - subtask: Pour the tea into the blue basin with right gripper + subtask_index: 22 + - subtask: Pick up blue cup filled with tea with left gripper + subtask_index: 23 + - subtask: Pour the tea into the blue basin with left gripper + subtask_index: 24 + - subtask: Pour the black tea into the pink bowl with the left gripper + subtask_index: 25 + - subtask: Grasp the glass of orange juice with the left gripper + subtask_index: 26 + - subtask: Place the glass cup with the right gripper + subtask_index: 27 + - subtask: Pick up blue cup filled with orange juice with left gripper + subtask_index: 28 + - subtask: End + subtask_index: 29 + - subtask: Place blue cup with shrimp on the table with right gripper + subtask_index: 30 + - subtask: Right gripper + subtask_index: 31 + - subtask: Place blue cup with tea on the table with left gripper + subtask_index: 32 + - subtask: Place the glass cup with the left gripper + subtask_index: 33 + - subtask: 'null' + subtask_index: 34 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 43652 + dataset_size: 1.70 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_liquid_mrable_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml index e219793bad3343dca2950c7349b84423fca6c3dc..600b7f4e7fdb3221014df8070d41d5cc3f0c9a12 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_powder_marble_bar_counter.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: marble_bar_counter level1: furniture level2: marble_bar_counter @@ -63,81 +63,53 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick up the cup and pour the powder into a bowl or tray. +task_result: 'null' +task_instruction: use a gripper to pick up the cup and pour the powder into a bowl + or tray. sub_tasks: -- subtask: Pour the coffee powder into the pink bowl with right gripper - subtask_index: 0 -- subtask: Pour the powder into the pink bowl with the right gripper - subtask_index: 1 -- subtask: Pick up blue cup filled with milk powder with left gripper - subtask_index: 2 -- subtask: Pour the milk powder into the pink bowl with left gripper - subtask_index: 3 -- subtask: Place the glass cup down with the right gripper - subtask_index: 4 -- subtask: Place blue cup with milk powder on the table with left gripper - subtask_index: 5 -- subtask: Pour the powder into the pink bowl with the left gripper - subtask_index: 6 -- subtask: Pour the coffee powder into the pink bowl with left gripper - subtask_index: 7 -- subtask: Left gripper - subtask_index: 8 -- subtask: Pick up blue cup filled with coffee powder with right gripper - subtask_index: 9 -- subtask: Pick up blue cup filled with milk powder with right gripper - subtask_index: 10 -- subtask: Pick up blue cup filled with coffee powder with left gripper - subtask_index: 11 -- subtask: Place blue cup with coffee powder on the table with right gripper - subtask_index: 12 -- subtask: Pour the powder into the green bowl with the left gripper - subtask_index: 13 -- subtask: Pour the coffee powder into the blue basin with right gripper - subtask_index: 14 -- subtask: Pour the coffee powder into the blue basin with left gripper - subtask_index: 15 -- subtask: Grasp the glass of powder with the right gripper - subtask_index: 16 -- subtask: Place the glass cup down with the left gripper - subtask_index: 17 -- subtask: Pour the milk powder into the pink bowl with right gripper - subtask_index: 18 -- subtask: Pour the powder into the green bowl with the right gripper - subtask_index: 19 -- subtask: Pour the milk powder into the blue basin with left gripper - subtask_index: 20 -- subtask: Place blue cup with milk powder on the table with right gripper - subtask_index: 21 -- subtask: Place blue cup with coffee powder on the table with left gripper - subtask_index: 22 -- subtask: Pour the milk powder into the blue basin with right gripper - subtask_index: 23 -- subtask: End - subtask_index: 24 -- subtask: Grasp the glass of powder with the left gripper - subtask_index: 25 -- subtask: Right gripper - subtask_index: 26 -- subtask: 'null' - subtask_index: 27 +- Pour the coffee powder into the pink bowl with right gripper +- Pour the powder into the pink bowl with the right gripper +- Pick up blue cup filled with milk powder with left gripper +- Pour the milk powder into the pink bowl with left gripper +- Place the glass cup down with the right gripper +- Place blue cup with milk powder on the table with left gripper +- Pour the powder into the pink bowl with the left gripper +- Pour the coffee powder into the pink bowl with left gripper +- Left gripper +- Pick up blue cup filled with coffee powder with right gripper +- Pick up blue cup filled with milk powder with right gripper +- Pick up blue cup filled with coffee powder with left gripper +- Place blue cup with coffee powder on the table with right gripper +- Pour the powder into the green bowl with the left gripper +- Pour the coffee powder into the blue basin with right gripper +- Pour the coffee powder into the blue basin with left gripper +- Grasp the glass of powder with the right gripper +- Place the glass cup down with the left gripper +- Pour the milk powder into the pink bowl with right gripper +- Pour the powder into the green bowl with the right gripper +- Pour the milk powder into the blue basin with left gripper +- Place blue cup with milk powder on the table with right gripper +- Place blue cup with coffee powder on the table with left gripper +- Pour the milk powder into the blue basin with right gripper +- End +- Grasp the glass of powder with the left gripper +- Right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -148,10 +120,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -159,7 +134,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 39829 fps: 30 @@ -246,9 +222,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_powder_marble_bar_counter_ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -516,7 +494,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -524,6 +502,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -550,6 +529,236 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_powder_marble_bar_counter + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: househhold + level2: itchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick up the cup and pour the powder into a bowl or tray. + sub_tasks: + - subtask: Pour the coffee powder into the pink bowl with right gripper + subtask_index: 0 + - subtask: Pour the powder into the pink bowl with the right gripper + subtask_index: 1 + - subtask: Pick up blue cup filled with milk powder with left gripper + subtask_index: 2 + - subtask: Pour the milk powder into the pink bowl with left gripper + subtask_index: 3 + - subtask: Place the glass cup down with the right gripper + subtask_index: 4 + - subtask: Place blue cup with milk powder on the table with left gripper + subtask_index: 5 + - subtask: Pour the powder into the pink bowl with the left gripper + subtask_index: 6 + - subtask: Pour the coffee powder into the pink bowl with left gripper + subtask_index: 7 + - subtask: Left gripper + subtask_index: 8 + - subtask: Pick up blue cup filled with coffee powder with right gripper + subtask_index: 9 + - subtask: Pick up blue cup filled with milk powder with right gripper + subtask_index: 10 + - subtask: Pick up blue cup filled with coffee powder with left gripper + subtask_index: 11 + - subtask: Place blue cup with coffee powder on the table with right gripper + subtask_index: 12 + - subtask: Pour the powder into the green bowl with the left gripper + subtask_index: 13 + - subtask: Pour the coffee powder into the blue basin with right gripper + subtask_index: 14 + - subtask: Pour the coffee powder into the blue basin with left gripper + subtask_index: 15 + - subtask: Grasp the glass of powder with the right gripper + subtask_index: 16 + - subtask: Place the glass cup down with the left gripper + subtask_index: 17 + - subtask: Pour the milk powder into the pink bowl with right gripper + subtask_index: 18 + - subtask: Pour the powder into the green bowl with the right gripper + subtask_index: 19 + - subtask: Pour the milk powder into the blue basin with left gripper + subtask_index: 20 + - subtask: Place blue cup with milk powder on the table with right gripper + subtask_index: 21 + - subtask: Place blue cup with coffee powder on the table with left gripper + subtask_index: 22 + - subtask: Pour the milk powder into the blue basin with right gripper + subtask_index: 23 + - subtask: End + subtask_index: 24 + - subtask: Grasp the glass of powder with the left gripper + subtask_index: 25 + - subtask: Right gripper + subtask_index: 26 + - subtask: 'null' + subtask_index: 27 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 39829 + dataset_size: 1.58 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_powder_marble_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_pour_solid.yaml b/dataset_info/Galaxea_R1_Lite_pour_solid.yaml index 99a4bd51cf1fb2e4733bca3260041ab15066fb65..61bab04c54f200c7d674ebf6326a7c5943bbe47d 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_solid.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_solid.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_table level1: furniture level2: white_table @@ -63,95 +63,60 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick up the cup and pour the solid into a bowl or tray. +task_result: 'null' +task_instruction: use a gripper to pick up the cup and pour the solid into a bowl + or tray. sub_tasks: -- subtask: Grasp the glass of shrimp with the left gripper - subtask_index: 0 -- subtask: Pick up blue cup filled with coffee beans with left gripper - subtask_index: 1 -- subtask: Place blue cup with coffee beans on the table with left gripper - subtask_index: 2 -- subtask: Pour the shrimp into the green bowl with the left gripper - subtask_index: 3 -- subtask: Pour the coffee beans into the pink bowl with the left gripper - subtask_index: 4 -- subtask: Pour the coffee beans into the pink bowl with the right gripper - subtask_index: 5 -- subtask: Left gripper - subtask_index: 6 -- subtask: Pour the shrimp into the green bowl with the right gripper - subtask_index: 7 -- subtask: Pick up blue cup filled with shrimp with left gripper - subtask_index: 8 -- subtask: Place blue cup with shrimp on the table with left gripper - subtask_index: 9 -- subtask: Pick up blue cup filled with coffee beans with right gripper - subtask_index: 10 -- subtask: Grasp the glass of coffee beans with the left gripper - subtask_index: 11 -- subtask: Pour the shrimp into the pink bowl with left gripper - subtask_index: 12 -- subtask: Pour the coffee beans into the green bowl with the left gripper - subtask_index: 13 -- subtask: Pour the coffee beans into the pink bowl with left gripper - subtask_index: 14 -- subtask: Grasp the glass of coffee beans with the right gripper - subtask_index: 15 -- subtask: Pour the coffee beans into the green plate with the right gripper - subtask_index: 16 -- subtask: Pour the shrimp into the pink bowl with the right gripper - subtask_index: 17 -- subtask: Grasp the glass of shrimp with the right gripper - subtask_index: 18 -- subtask: Pour the coffee beans into the green plate with the left gripper - subtask_index: 19 -- subtask: Place blue cup with coffee powder on the table with left gripper - subtask_index: 20 -- subtask: Place the glass cup with the right gripper - subtask_index: 21 -- subtask: Place blue cup with coffee beans on the table with right gripper - subtask_index: 22 -- subtask: End - subtask_index: 23 -- subtask: Pour the coffee beans into the green bowl with the right gripper - subtask_index: 24 -- subtask: Place blue cup with shrimp on the table with right gripper - subtask_index: 25 -- subtask: Pick up blue cup filled with shrimp with right gripper - subtask_index: 26 -- subtask: Pour the shrimp into the pink bowl with right gripper - subtask_index: 27 -- subtask: Pour the shrimp into the pink bowl with the left gripper - subtask_index: 28 -- subtask: Pour the shrimp into the blue basin with left gripper - subtask_index: 29 -- subtask: Pour the coffee beans into the blue basin with right gripper - subtask_index: 30 -- subtask: Right gripper - subtask_index: 31 -- subtask: Pour the shrimp into the blue basin with right gripper - subtask_index: 32 -- subtask: Place the glass cup with the left gripper - subtask_index: 33 -- subtask: 'null' - subtask_index: 34 +- Grasp the glass of shrimp with the left gripper +- Pick up blue cup filled with coffee beans with left gripper +- Place blue cup with coffee beans on the table with left gripper +- Pour the shrimp into the green bowl with the left gripper +- Pour the coffee beans into the pink bowl with the left gripper +- Pour the coffee beans into the pink bowl with the right gripper +- Left gripper +- Pour the shrimp into the green bowl with the right gripper +- Pick up blue cup filled with shrimp with left gripper +- Place blue cup with shrimp on the table with left gripper +- Pick up blue cup filled with coffee beans with right gripper +- Grasp the glass of coffee beans with the left gripper +- Pour the shrimp into the pink bowl with left gripper +- Pour the coffee beans into the green bowl with the left gripper +- Pour the coffee beans into the pink bowl with left gripper +- Grasp the glass of coffee beans with the right gripper +- Pour the coffee beans into the green plate with the right gripper +- Pour the shrimp into the pink bowl with the right gripper +- Grasp the glass of shrimp with the right gripper +- Pour the coffee beans into the green plate with the left gripper +- Place blue cup with coffee powder on the table with left gripper +- Place the glass cup with the right gripper +- Place blue cup with coffee beans on the table with right gripper +- End +- Pour the coffee beans into the green bowl with the right gripper +- Place blue cup with shrimp on the table with right gripper +- Pick up blue cup filled with shrimp with right gripper +- Pour the shrimp into the pink bowl with right gripper +- Pour the shrimp into the pink bowl with the left gripper +- Pour the shrimp into the blue basin with left gripper +- Pour the coffee beans into the blue basin with right gripper +- Right gripper +- Pour the shrimp into the blue basin with right gripper +- Place the glass cup with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -162,10 +127,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -173,7 +141,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 39 total_frames: 16353 fps: 30 @@ -260,9 +229,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:38 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -530,7 +501,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -538,6 +509,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -564,6 +536,250 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_solid + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: ousehhold + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick up the cup and pour the solid into a bowl or tray. + sub_tasks: + - subtask: Grasp the glass of shrimp with the left gripper + subtask_index: 0 + - subtask: Pick up blue cup filled with coffee beans with left gripper + subtask_index: 1 + - subtask: Place blue cup with coffee beans on the table with left gripper + subtask_index: 2 + - subtask: Pour the shrimp into the green bowl with the left gripper + subtask_index: 3 + - subtask: Pour the coffee beans into the pink bowl with the left gripper + subtask_index: 4 + - subtask: Pour the coffee beans into the pink bowl with the right gripper + subtask_index: 5 + - subtask: Left gripper + subtask_index: 6 + - subtask: Pour the shrimp into the green bowl with the right gripper + subtask_index: 7 + - subtask: Pick up blue cup filled with shrimp with left gripper + subtask_index: 8 + - subtask: Place blue cup with shrimp on the table with left gripper + subtask_index: 9 + - subtask: Pick up blue cup filled with coffee beans with right gripper + subtask_index: 10 + - subtask: Grasp the glass of coffee beans with the left gripper + subtask_index: 11 + - subtask: Pour the shrimp into the pink bowl with left gripper + subtask_index: 12 + - subtask: Pour the coffee beans into the green bowl with the left gripper + subtask_index: 13 + - subtask: Pour the coffee beans into the pink bowl with left gripper + subtask_index: 14 + - subtask: Grasp the glass of coffee beans with the right gripper + subtask_index: 15 + - subtask: Pour the coffee beans into the green plate with the right gripper + subtask_index: 16 + - subtask: Pour the shrimp into the pink bowl with the right gripper + subtask_index: 17 + - subtask: Grasp the glass of shrimp with the right gripper + subtask_index: 18 + - subtask: Pour the coffee beans into the green plate with the left gripper + subtask_index: 19 + - subtask: Place blue cup with coffee powder on the table with left gripper + subtask_index: 20 + - subtask: Place the glass cup with the right gripper + subtask_index: 21 + - subtask: Place blue cup with coffee beans on the table with right gripper + subtask_index: 22 + - subtask: End + subtask_index: 23 + - subtask: Pour the coffee beans into the green bowl with the right gripper + subtask_index: 24 + - subtask: Place blue cup with shrimp on the table with right gripper + subtask_index: 25 + - subtask: Pick up blue cup filled with shrimp with right gripper + subtask_index: 26 + - subtask: Pour the shrimp into the pink bowl with right gripper + subtask_index: 27 + - subtask: Pour the shrimp into the pink bowl with the left gripper + subtask_index: 28 + - subtask: Pour the shrimp into the blue basin with left gripper + subtask_index: 29 + - subtask: Pour the coffee beans into the blue basin with right gripper + subtask_index: 30 + - subtask: Right gripper + subtask_index: 31 + - subtask: Pour the shrimp into the blue basin with right gripper + subtask_index: 32 + - subtask: Place the glass cup with the left gripper + subtask_index: 33 + - subtask: 'null' + subtask_index: 34 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16353 + dataset_size: 459.77 MB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (27 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml index f44a4f9a5fbbab5b118dd713773b0e41d82c4cc7..1a772d715a3ceef8875a011c81a6f0a94c34d047 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_solid_marble_bar_counter.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: marble_bar_counter level1: furniture level2: marble_bar_counter @@ -63,59 +63,42 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick up the cup and pour the solid into a bowl or tray. +task_result: 'null' +task_instruction: use a gripper to pick up the cup and pour the solid into a bowl + or tray. sub_tasks: -- subtask: Abnormal - subtask_index: 0 -- subtask: Grasp the glass of shrimp with the left gripper - subtask_index: 1 -- subtask: Pour the shrimp beans into the green bowl with the left gripper - subtask_index: 2 -- subtask: Pour the shrimp beans into the green bowl with the right gripper - subtask_index: 3 -- subtask: Grasp the glass of coffee beans with the right gripper - subtask_index: 4 -- subtask: Grasp the glass of coffee beans with the left gripper - subtask_index: 5 -- subtask: Place the glass cup with the right gripper - subtask_index: 6 -- subtask: Pour the shrimp into the pink bowl with the left gripper - subtask_index: 7 -- subtask: End - subtask_index: 8 -- subtask: Pour the coffee beans into the green bowl with the right gripper - subtask_index: 9 -- subtask: Pour the coffee beans into the pink bowl with the left gripper - subtask_index: 10 -- subtask: Pour the shrimp into the pink bowl with the right gripper - subtask_index: 11 -- subtask: Pour the coffee beans into the pink bowl with the right gripper - subtask_index: 12 -- subtask: Grasp the glass of shrimp with the right gripper - subtask_index: 13 -- subtask: Place the glass cup with the left gripper - subtask_index: 14 -- subtask: Pour the coffee beans into the green bowl with the left gripper - subtask_index: 15 -- subtask: 'null' - subtask_index: 16 +- Abnormal +- Grasp the glass of shrimp with the left gripper +- Pour the shrimp beans into the green bowl with the left gripper +- Pour the shrimp beans into the green bowl with the right gripper +- Grasp the glass of coffee beans with the right gripper +- Grasp the glass of coffee beans with the left gripper +- Place the glass cup with the right gripper +- Pour the shrimp into the pink bowl with the left gripper +- End +- Pour the coffee beans into the green bowl with the right gripper +- Pour the coffee beans into the pink bowl with the left gripper +- Pour the shrimp into the pink bowl with the right gripper +- Pour the coffee beans into the pink bowl with the right gripper +- Grasp the glass of shrimp with the right gripper +- Place the glass cup with the left gripper +- Pour the coffee beans into the green bowl with the left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -126,10 +109,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -137,7 +123,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 85 total_frames: 31250 fps: 30 @@ -224,9 +211,11 @@ data_structure: 'Galaxea_R1_Lite_pour_solid_marble_bar_counter_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:84 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -494,7 +483,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -502,6 +491,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -528,6 +518,214 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_solid_marble_bar_counter + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: househhold + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick up the cup and pour the solid into a bowl or tray. + sub_tasks: + - subtask: Abnormal + subtask_index: 0 + - subtask: Grasp the glass of shrimp with the left gripper + subtask_index: 1 + - subtask: Pour the shrimp beans into the green bowl with the left gripper + subtask_index: 2 + - subtask: Pour the shrimp beans into the green bowl with the right gripper + subtask_index: 3 + - subtask: Grasp the glass of coffee beans with the right gripper + subtask_index: 4 + - subtask: Grasp the glass of coffee beans with the left gripper + subtask_index: 5 + - subtask: Place the glass cup with the right gripper + subtask_index: 6 + - subtask: Pour the shrimp into the pink bowl with the left gripper + subtask_index: 7 + - subtask: End + subtask_index: 8 + - subtask: Pour the coffee beans into the green bowl with the right gripper + subtask_index: 9 + - subtask: Pour the coffee beans into the pink bowl with the left gripper + subtask_index: 10 + - subtask: Pour the shrimp into the pink bowl with the right gripper + subtask_index: 11 + - subtask: Pour the coffee beans into the pink bowl with the right gripper + subtask_index: 12 + - subtask: Grasp the glass of shrimp with the right gripper + subtask_index: 13 + - subtask: Place the glass cup with the left gripper + subtask_index: 14 + - subtask: Pour the coffee beans into the green bowl with the left gripper + subtask_index: 15 + - subtask: 'null' + subtask_index: 16 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 31250 + dataset_size: 1.29 GB + data_structure: 'Galaxea_R1_Lite_pour_solid_marble_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (73 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_pour_water.yaml b/dataset_info/Galaxea_R1_Lite_pour_water.yaml index f35703ecc2e11753e0753dd3d60af0b9b53f3c34..7aa8525856cbab6dee0d1c06f465f604ebd91fd3 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_water.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_water.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_table level1: furniture level2: white_table @@ -51,117 +51,70 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the gripper to pour the water into the other two cups table. +task_result: 'null' +task_instruction: use the gripper to pour the water into the other two cups table. sub_tasks: -- subtask: Pick up the gray plastic cup with left gripper - subtask_index: 0 -- subtask: Pour water from blue cup to white cup with the left gripper - subtask_index: 1 -- subtask: Pour water from white cup to blue cup with the right gripper - subtask_index: 2 -- subtask: Grasp the green cup with the left gripper - subtask_index: 3 -- subtask: Place the blue plastic cup on the table with left gripper - subtask_index: 4 -- subtask: Pour water from blue cup to green cup with the right gripper - subtask_index: 5 -- subtask: Pour water from white cup to green cup with the right gripper - subtask_index: 6 -- subtask: Left gripper - subtask_index: 7 -- subtask: Pour water into the green plastic cup with right gripper - subtask_index: 8 -- subtask: Pour water from blue cup to green cup with the left gripper - subtask_index: 9 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 10 -- subtask: Pick up the green plastic cup with right gripper - subtask_index: 11 -- subtask: Pour water into the blue plastic cup with left gripper - subtask_index: 12 -- subtask: Place the white cup with the right gripper - subtask_index: 13 -- subtask: Grasp the white cup with the right gripper - subtask_index: 14 -- subtask: Pick up the blue plastic cup with right gripper - subtask_index: 15 -- subtask: Place the white cup with the left gripper - subtask_index: 16 -- subtask: Place the blue cup with the right gripper - subtask_index: 17 -- subtask: Place the gray plastic cup on the table with left gripper - subtask_index: 18 -- subtask: Pick up the green plastic cup with left gripper - subtask_index: 19 -- subtask: Pour water into the blue plastic cup with right gripper - subtask_index: 20 -- subtask: Pick up the gray plastic cup with right gripper - subtask_index: 21 -- subtask: Grasp the green cup with the right gripper - subtask_index: 22 -- subtask: Pick up the blue plastic cup with left gripper - subtask_index: 23 -- subtask: Grasp the white cup with the left gripper - subtask_index: 24 -- subtask: Pour water from white cup to green cup with the left gripper - subtask_index: 25 -- subtask: Pour water from blue cup to white cup with the right gripper - subtask_index: 26 -- subtask: Place the blue plastic cup on the table with right gripper - subtask_index: 27 -- subtask: Place the gray plastic cup on the table with right gripper - subtask_index: 28 -- subtask: Pour water from white cup to blue cup with the left gripper - subtask_index: 29 -- subtask: Right gripper - subtask_index: 30 -- subtask: Place the green plastic cup on the table with left gripper - subtask_index: 31 -- subtask: Pour water from green cup to blue cup with the right gripper - subtask_index: 32 -- subtask: Place the green plastic cup on the table with right gripper - subtask_index: 33 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 34 -- subtask: Pour water from green cup to blue cup with the left gripper - subtask_index: 35 -- subtask: Place the green cup with the right gripper - subtask_index: 36 -- subtask: Place the green cup with the left gripper - subtask_index: 37 -- subtask: End - subtask_index: 38 -- subtask: Pour water from green cup to white cup with the right gripper - subtask_index: 39 -- subtask: Place the blue cup with the left gripper - subtask_index: 40 -- subtask: Pour water from green cup to white cup with the left gripper - subtask_index: 41 -- subtask: Pour water into the green plastic cup with left gripper - subtask_index: 42 -- subtask: Pour water into the gray plastic cup with right gripper - subtask_index: 43 -- subtask: Pour water into the gray plastic cup with left gripper - subtask_index: 44 -- subtask: 'null' - subtask_index: 45 +- Pick up the gray plastic cup with left gripper +- Pour water from blue cup to white cup with the left gripper +- Pour water from white cup to blue cup with the right gripper +- Grasp the green cup with the left gripper +- Place the blue plastic cup on the table with left gripper +- Pour water from blue cup to green cup with the right gripper +- Pour water from white cup to green cup with the right gripper +- Left gripper +- Pour water into the green plastic cup with right gripper +- Pour water from blue cup to green cup with the left gripper +- Grasp the blue cup with the left gripper +- Pick up the green plastic cup with right gripper +- Pour water into the blue plastic cup with left gripper +- Place the white cup with the right gripper +- Grasp the white cup with the right gripper +- Pick up the blue plastic cup with right gripper +- Place the white cup with the left gripper +- Place the blue cup with the right gripper +- Place the gray plastic cup on the table with left gripper +- Pick up the green plastic cup with left gripper +- Pour water into the blue plastic cup with right gripper +- Pick up the gray plastic cup with right gripper +- Grasp the green cup with the right gripper +- Pick up the blue plastic cup with left gripper +- Grasp the white cup with the left gripper +- Pour water from white cup to green cup with the left gripper +- Pour water from blue cup to white cup with the right gripper +- Place the blue plastic cup on the table with right gripper +- Place the gray plastic cup on the table with right gripper +- Pour water from white cup to blue cup with the left gripper +- Right gripper +- Place the green plastic cup on the table with left gripper +- Pour water from green cup to blue cup with the right gripper +- Place the green plastic cup on the table with right gripper +- Grasp the blue cup with the right gripper +- Pour water from green cup to blue cup with the left gripper +- Place the green cup with the right gripper +- Place the green cup with the left gripper +- End +- Pour water from green cup to white cup with the right gripper +- Place the blue cup with the left gripper +- Pour water from green cup to white cup with the left gripper +- Pour water into the green plastic cup with left gripper +- Pour water into the gray plastic cup with right gripper +- Pour water into the gray plastic cup with left gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -172,10 +125,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -183,7 +139,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 43201 fps: 30 @@ -270,9 +227,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -540,7 +499,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -548,6 +507,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -574,6 +534,272 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_water + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the gripper to pour the water into the other two cups table. + sub_tasks: + - subtask: Pick up the gray plastic cup with left gripper + subtask_index: 0 + - subtask: Pour water from blue cup to white cup with the left gripper + subtask_index: 1 + - subtask: Pour water from white cup to blue cup with the right gripper + subtask_index: 2 + - subtask: Grasp the green cup with the left gripper + subtask_index: 3 + - subtask: Place the blue plastic cup on the table with left gripper + subtask_index: 4 + - subtask: Pour water from blue cup to green cup with the right gripper + subtask_index: 5 + - subtask: Pour water from white cup to green cup with the right gripper + subtask_index: 6 + - subtask: Left gripper + subtask_index: 7 + - subtask: Pour water into the green plastic cup with right gripper + subtask_index: 8 + - subtask: Pour water from blue cup to green cup with the left gripper + subtask_index: 9 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 10 + - subtask: Pick up the green plastic cup with right gripper + subtask_index: 11 + - subtask: Pour water into the blue plastic cup with left gripper + subtask_index: 12 + - subtask: Place the white cup with the right gripper + subtask_index: 13 + - subtask: Grasp the white cup with the right gripper + subtask_index: 14 + - subtask: Pick up the blue plastic cup with right gripper + subtask_index: 15 + - subtask: Place the white cup with the left gripper + subtask_index: 16 + - subtask: Place the blue cup with the right gripper + subtask_index: 17 + - subtask: Place the gray plastic cup on the table with left gripper + subtask_index: 18 + - subtask: Pick up the green plastic cup with left gripper + subtask_index: 19 + - subtask: Pour water into the blue plastic cup with right gripper + subtask_index: 20 + - subtask: Pick up the gray plastic cup with right gripper + subtask_index: 21 + - subtask: Grasp the green cup with the right gripper + subtask_index: 22 + - subtask: Pick up the blue plastic cup with left gripper + subtask_index: 23 + - subtask: Grasp the white cup with the left gripper + subtask_index: 24 + - subtask: Pour water from white cup to green cup with the left gripper + subtask_index: 25 + - subtask: Pour water from blue cup to white cup with the right gripper + subtask_index: 26 + - subtask: Place the blue plastic cup on the table with right gripper + subtask_index: 27 + - subtask: Place the gray plastic cup on the table with right gripper + subtask_index: 28 + - subtask: Pour water from white cup to blue cup with the left gripper + subtask_index: 29 + - subtask: Right gripper + subtask_index: 30 + - subtask: Place the green plastic cup on the table with left gripper + subtask_index: 31 + - subtask: Pour water from green cup to blue cup with the right gripper + subtask_index: 32 + - subtask: Place the green plastic cup on the table with right gripper + subtask_index: 33 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 34 + - subtask: Pour water from green cup to blue cup with the left gripper + subtask_index: 35 + - subtask: Place the green cup with the right gripper + subtask_index: 36 + - subtask: Place the green cup with the left gripper + subtask_index: 37 + - subtask: End + subtask_index: 38 + - subtask: Pour water from green cup to white cup with the right gripper + subtask_index: 39 + - subtask: Place the blue cup with the left gripper + subtask_index: 40 + - subtask: Pour water from green cup to white cup with the left gripper + subtask_index: 41 + - subtask: Pour water into the green plastic cup with left gripper + subtask_index: 42 + - subtask: Pour water into the gray plastic cup with right gripper + subtask_index: 43 + - subtask: Pour water into the gray plastic cup with left gripper + subtask_index: 44 + - subtask: 'null' + subtask_index: 45 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 43201 + dataset_size: 932.69 MB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml b/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml index 748984fc31faa1e0ed611dad1e70ea516b95998e..908d93453c90bd494f2d87dc20a30970811350e1 100644 --- a/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml +++ b/dataset_info/Galaxea_R1_Lite_pour_water_black_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: black_table_cloth level1: table_cloths level2: black_table_cloth @@ -51,113 +51,69 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the gripper to pour the water into the other two cups on black table. +task_result: 'null' +task_instruction: use the gripper to pour the water into the other two cups on black + table. sub_tasks: -- subtask: Pick up the gray plastic cup with left gripper - subtask_index: 0 -- subtask: Pour water from blue cup to white cup with the left gripper - subtask_index: 1 -- subtask: Pour water from white cup to blue cup with the right gripper - subtask_index: 2 -- subtask: Grasp the green cup with the left gripper - subtask_index: 3 -- subtask: Place the blue plastic cup on the table with left gripper - subtask_index: 4 -- subtask: Pour water from blue cup to green cup with the right gripper - subtask_index: 5 -- subtask: Pour water from white cup to green cup with the right gripper - subtask_index: 6 -- subtask: Left gripper - subtask_index: 7 -- subtask: Pick up the green plastic cup with right gripper - subtask_index: 8 -- subtask: Pour water from blue cup to green cup with the left gripper - subtask_index: 9 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 10 -- subtask: Pour water into the green plastic cup with right gripper - subtask_index: 11 -- subtask: Pour water into the blue plastic cup with left gripper - subtask_index: 12 -- subtask: Place the white cup with the right gripper - subtask_index: 13 -- subtask: Grasp the white cup with the right gripper - subtask_index: 14 -- subtask: Pick up the blue plastic cup with right gripper - subtask_index: 15 -- subtask: Place the white cup with the left gripper - subtask_index: 16 -- subtask: Place the blue cup with the right gripper - subtask_index: 17 -- subtask: Place the gray plastic cup on the table with left gripper - subtask_index: 18 -- subtask: Pick up the green plastic cup with left gripper - subtask_index: 19 -- subtask: Pour water into the blue plastic cup with right gripper - subtask_index: 20 -- subtask: Grasp the green cup with the right gripper - subtask_index: 21 -- subtask: Pick up the blue plastic cup with left gripper - subtask_index: 22 -- subtask: Grasp the white cup with the left gripper - subtask_index: 23 -- subtask: Pour water from white cup to green cup with the left gripper - subtask_index: 24 -- subtask: Pour water from blue cup to white cup with the right gripper - subtask_index: 25 -- subtask: Place the blue plastic cup on the table with right gripper - subtask_index: 26 -- subtask: Pour water from white cup to blue cup with the left gripper - subtask_index: 27 -- subtask: Pour water into the green plastic cup with left gripper - subtask_index: 28 -- subtask: Pour water from green cup to blue cup with the right gripper - subtask_index: 29 -- subtask: Place the green plastic cup on the table with left gripper - subtask_index: 30 -- subtask: Place the green plastic cup on the table with right gripper - subtask_index: 31 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 32 -- subtask: Place the green cup with the right gripper - subtask_index: 33 -- subtask: Pour water from green cup to blue cup with the left gripper - subtask_index: 34 -- subtask: Place the green cup with the left gripper - subtask_index: 35 -- subtask: End - subtask_index: 36 -- subtask: Place the blue cup with the left gripper - subtask_index: 37 -- subtask: Pour water from green cup to white cup with the left gripper - subtask_index: 38 -- subtask: Right gripper - subtask_index: 39 -- subtask: Pour water into the gray plastic cup with right gripper - subtask_index: 40 -- subtask: Pour water into the gray plastic cup with left gripper - subtask_index: 41 -- subtask: Pour water from green cup to white cup with the right gripper - subtask_index: 42 -- subtask: 'null' - subtask_index: 43 +- Pick up the gray plastic cup with left gripper +- Pour water from blue cup to white cup with the left gripper +- Pour water from white cup to blue cup with the right gripper +- Grasp the green cup with the left gripper +- Place the blue plastic cup on the table with left gripper +- Pour water from blue cup to green cup with the right gripper +- Pour water from white cup to green cup with the right gripper +- Left gripper +- Pick up the green plastic cup with right gripper +- Pour water from blue cup to green cup with the left gripper +- Grasp the blue cup with the left gripper +- Pour water into the green plastic cup with right gripper +- Pour water into the blue plastic cup with left gripper +- Place the white cup with the right gripper +- Grasp the white cup with the right gripper +- Pick up the blue plastic cup with right gripper +- Place the white cup with the left gripper +- Place the blue cup with the right gripper +- Place the gray plastic cup on the table with left gripper +- Pick up the green plastic cup with left gripper +- Pour water into the blue plastic cup with right gripper +- Grasp the green cup with the right gripper +- Pick up the blue plastic cup with left gripper +- Grasp the white cup with the left gripper +- Pour water from white cup to green cup with the left gripper +- Pour water from blue cup to white cup with the right gripper +- Place the blue plastic cup on the table with right gripper +- Pour water from white cup to blue cup with the left gripper +- Pour water into the green plastic cup with left gripper +- Pour water from green cup to blue cup with the right gripper +- Place the green plastic cup on the table with left gripper +- Place the green plastic cup on the table with right gripper +- Grasp the blue cup with the right gripper +- Place the green cup with the right gripper +- Pour water from green cup to blue cup with the left gripper +- Place the green cup with the left gripper +- End +- Place the blue cup with the left gripper +- Pour water from green cup to white cup with the left gripper +- Right gripper +- Pour water into the gray plastic cup with right gripper +- Pour water into the gray plastic cup with left gripper +- Pour water from green cup to white cup with the right gripper +- 'null' atomic_actions: - grasp - pick - place - pour -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -168,10 +124,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -179,7 +138,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 42644 fps: 30 @@ -266,9 +226,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_black_tablecloth_qce |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -536,7 +498,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -544,6 +506,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -570,6 +533,268 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_pour_water_black_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the gripper to pour the water into the other two cups on black table. + sub_tasks: + - subtask: Pick up the gray plastic cup with left gripper + subtask_index: 0 + - subtask: Pour water from blue cup to white cup with the left gripper + subtask_index: 1 + - subtask: Pour water from white cup to blue cup with the right gripper + subtask_index: 2 + - subtask: Grasp the green cup with the left gripper + subtask_index: 3 + - subtask: Place the blue plastic cup on the table with left gripper + subtask_index: 4 + - subtask: Pour water from blue cup to green cup with the right gripper + subtask_index: 5 + - subtask: Pour water from white cup to green cup with the right gripper + subtask_index: 6 + - subtask: Left gripper + subtask_index: 7 + - subtask: Pick up the green plastic cup with right gripper + subtask_index: 8 + - subtask: Pour water from blue cup to green cup with the left gripper + subtask_index: 9 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 10 + - subtask: Pour water into the green plastic cup with right gripper + subtask_index: 11 + - subtask: Pour water into the blue plastic cup with left gripper + subtask_index: 12 + - subtask: Place the white cup with the right gripper + subtask_index: 13 + - subtask: Grasp the white cup with the right gripper + subtask_index: 14 + - subtask: Pick up the blue plastic cup with right gripper + subtask_index: 15 + - subtask: Place the white cup with the left gripper + subtask_index: 16 + - subtask: Place the blue cup with the right gripper + subtask_index: 17 + - subtask: Place the gray plastic cup on the table with left gripper + subtask_index: 18 + - subtask: Pick up the green plastic cup with left gripper + subtask_index: 19 + - subtask: Pour water into the blue plastic cup with right gripper + subtask_index: 20 + - subtask: Grasp the green cup with the right gripper + subtask_index: 21 + - subtask: Pick up the blue plastic cup with left gripper + subtask_index: 22 + - subtask: Grasp the white cup with the left gripper + subtask_index: 23 + - subtask: Pour water from white cup to green cup with the left gripper + subtask_index: 24 + - subtask: Pour water from blue cup to white cup with the right gripper + subtask_index: 25 + - subtask: Place the blue plastic cup on the table with right gripper + subtask_index: 26 + - subtask: Pour water from white cup to blue cup with the left gripper + subtask_index: 27 + - subtask: Pour water into the green plastic cup with left gripper + subtask_index: 28 + - subtask: Pour water from green cup to blue cup with the right gripper + subtask_index: 29 + - subtask: Place the green plastic cup on the table with left gripper + subtask_index: 30 + - subtask: Place the green plastic cup on the table with right gripper + subtask_index: 31 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 32 + - subtask: Place the green cup with the right gripper + subtask_index: 33 + - subtask: Pour water from green cup to blue cup with the left gripper + subtask_index: 34 + - subtask: Place the green cup with the left gripper + subtask_index: 35 + - subtask: End + subtask_index: 36 + - subtask: Place the blue cup with the left gripper + subtask_index: 37 + - subtask: Pour water from green cup to white cup with the left gripper + subtask_index: 38 + - subtask: Right gripper + subtask_index: 39 + - subtask: Pour water into the gray plastic cup with right gripper + subtask_index: 40 + - subtask: Pour water into the gray plastic cup with left gripper + subtask_index: 41 + - subtask: Pour water from green cup to white cup with the right gripper + subtask_index: 42 + - subtask: 'null' + subtask_index: 43 + atomic_actions: + - grasp + - pick + - place + - pour + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 42644 + dataset_size: 1.43 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml index a5bd60f64feffae089c8d290b5db5484bb0e0fe1..b6e05fb231e44999986477cf05de4aee28ecdb89 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: blue_plate level1: plates level2: blue_plate @@ -195,196 +195,109 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the blue plate. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the blue plate. sub_tasks: -- subtask: Place the shower sphere on the blue plate with the left gripper - subtask_index: 0 -- subtask: Place the round wooden block on the blue plate with the right gripper - subtask_index: 1 -- subtask: Grasp the blue pot with the left gripper - subtask_index: 2 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 3 -- subtask: Place the soft facial cleanser on the blue plate with the right gripper - subtask_index: 4 -- subtask: Place the potato chips on the blue plate with the right gripper - subtask_index: 5 -- subtask: Grasp the Itchy scratcher with the right gripper - subtask_index: 6 -- subtask: Place the duck toy on the blue plate with the right gripper - subtask_index: 7 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 8 -- subtask: Place the tin on the blue plate with the left gripper - subtask_index: 9 -- subtask: Grasp the banana with the left gripper - subtask_index: 10 -- subtask: Place the chocolate cake on the blue plate with the right gripper - subtask_index: 11 -- subtask: Place the blue cup on the blue plate with the right gripper - subtask_index: 12 -- subtask: Place the blue pot on the blue plate with the left gripper - subtask_index: 13 -- subtask: Place the tape on the blue plate with the left gripper - subtask_index: 14 -- subtask: Grasp the compasses with the right gripper - subtask_index: 15 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 16 -- subtask: Place the blackboard erasure on the blue plate with the right gripper - subtask_index: 17 -- subtask: Place the tin on the blue plate with the right gripper - subtask_index: 18 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 19 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 20 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 21 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 22 -- subtask: Place the compasses on the blue plate with the right gripper - subtask_index: 23 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 24 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 25 -- subtask: Place the round wooden block on the blue plate with the left gripper - subtask_index: 26 -- subtask: Place the banana on the blue plate with the left gripper - subtask_index: 27 -- subtask: Grasp the tin with the left gripper - subtask_index: 28 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 29 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 30 -- subtask: Place the Itchy scratcher on the blue plate with the right gripper - subtask_index: 31 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 32 -- subtask: Grasp the peach with the right gripper - subtask_index: 33 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 34 -- subtask: Place the coke on the blue plate with the left gripper - subtask_index: 35 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 36 -- subtask: Place the compasses on the blue plate with the left gripper - subtask_index: 37 -- subtask: Place the hard facial cleanser on the blue plate with the left gripper - subtask_index: 38 -- subtask: Place the yogurt on the blue plate with the right gripper - subtask_index: 39 -- subtask: Grasp the peach with the left gripper - subtask_index: 40 -- subtask: Place the square wooden block on the blue plate with the right gripper - subtask_index: 41 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 42 -- subtask: End - subtask_index: 43 -- subtask: Place the duck toy on the blue plate with the left gripper - subtask_index: 44 -- subtask: Grasp the coke with the left gripper - subtask_index: 45 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 46 -- subtask: Place the round bread on the blue plate with the left gripper - subtask_index: 47 -- subtask: Place the plugboard on the blue plate with the left gripper - subtask_index: 48 -- subtask: Grasp the compasses with the left gripper - subtask_index: 49 -- subtask: Place the green lemon on the blue plate with the left gripper - subtask_index: 50 -- subtask: Place the peach on the blue plate with the right gripper - subtask_index: 51 -- subtask: Place the chocolate on the blue plate with the right gripper - subtask_index: 52 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 53 -- subtask: Grasp the round bread with the right gripper - subtask_index: 54 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 55 -- subtask: Place the hard facial cleanser on the blue plate with the right gripper - subtask_index: 56 -- subtask: Place the brown towel on the blue plate with the right gripper - subtask_index: 57 -- subtask: Grasp the tin with the right gripper - subtask_index: 58 -- subtask: Place the blue cup on the blue plate with the left gripper - subtask_index: 59 -- subtask: Grasp the tape with the right gripper - subtask_index: 60 -- subtask: Grasp the coke with the right gripper - subtask_index: 61 -- subtask: Grasp the tape with the left gripper - subtask_index: 62 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 63 -- subtask: Place the banana on the blue plate with the right gripper - subtask_index: 64 -- subtask: Place the shower sphere on the blue plate with the right gripper - subtask_index: 65 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 66 -- subtask: Place the square chewing gum on the blue plate with the left gripper - subtask_index: 67 -- subtask: Place the plugboard on the blue plate with the right gripper - subtask_index: 68 -- subtask: Place the round bread on the blue plate with the right gripper - subtask_index: 69 -- subtask: Place the chocolate cake on the blue plate with the left gripper - subtask_index: 70 -- subtask: Grasp the round bread with the left gripper - subtask_index: 71 -- subtask: Place the brown towel on the blue plate with the left gripper - subtask_index: 72 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 73 -- subtask: Place the coke on the blue plate with the right gripper - subtask_index: 74 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 75 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 76 -- subtask: Place the tape on the blue plate with the right gripper - subtask_index: 77 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 78 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 79 -- subtask: Place the square wooden block on the blue plate with the left gripper - subtask_index: 80 -- subtask: Place the peach on the blue plate with the left gripper - subtask_index: 81 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 82 -- subtask: Place the blue pot on the blue plate with the right gripper - subtask_index: 83 -- subtask: Grasp the banana with the right gripper - subtask_index: 84 -- subtask: 'null' - subtask_index: 85 +- Place the shower sphere on the blue plate with the left gripper +- Place the round wooden block on the blue plate with the right gripper +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Place the soft facial cleanser on the blue plate with the right gripper +- Place the potato chips on the blue plate with the right gripper +- Grasp the Itchy scratcher with the right gripper +- Place the duck toy on the blue plate with the right gripper +- Grasp the potato chips with the right gripper +- Place the tin on the blue plate with the left gripper +- Grasp the banana with the left gripper +- Place the chocolate cake on the blue plate with the right gripper +- Place the blue cup on the blue plate with the right gripper +- Place the blue pot on the blue plate with the left gripper +- Place the tape on the blue plate with the left gripper +- Grasp the compasses with the right gripper +- Grasp the duck toy with the left gripper +- Place the blackboard erasure on the blue plate with the right gripper +- Place the tin on the blue plate with the right gripper +- Grasp the blue cup with the left gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Grasp the shower sphere with the left gripper +- Place the compasses on the blue plate with the right gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Place the round wooden block on the blue plate with the left gripper +- Place the banana on the blue plate with the left gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Place the Itchy scratcher on the blue plate with the right gripper +- Grasp the chocolate with the right gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Place the coke on the blue plate with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the compasses on the blue plate with the left gripper +- Place the hard facial cleanser on the blue plate with the left gripper +- Place the yogurt on the blue plate with the right gripper +- Grasp the peach with the left gripper +- Place the square wooden block on the blue plate with the right gripper +- Grasp the duck toy with the right gripper +- End +- Place the duck toy on the blue plate with the left gripper +- Grasp the coke with the left gripper +- Grasp the round wooden block with the left gripper +- Place the round bread on the blue plate with the left gripper +- Place the plugboard on the blue plate with the left gripper +- Grasp the compasses with the left gripper +- Place the green lemon on the blue plate with the left gripper +- Place the peach on the blue plate with the right gripper +- Place the chocolate on the blue plate with the right gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the hard facial cleanser on the blue plate with the right gripper +- Place the brown towel on the blue plate with the right gripper +- Grasp the tin with the right gripper +- Place the blue cup on the blue plate with the left gripper +- Grasp the tape with the right gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Grasp the shower sphere with the right gripper +- Place the banana on the blue plate with the right gripper +- Place the shower sphere on the blue plate with the right gripper +- Grasp the blackboard erasure with the right gripper +- Place the square chewing gum on the blue plate with the left gripper +- Place the plugboard on the blue plate with the right gripper +- Place the round bread on the blue plate with the right gripper +- Place the chocolate cake on the blue plate with the left gripper +- Grasp the round bread with the left gripper +- Place the brown towel on the blue plate with the left gripper +- Grasp the square wooden block with the left gripper +- Place the coke on the blue plate with the right gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Place the tape on the blue plate with the right gripper +- Grasp the square wooden block with the right gripper +- Grasp the green lemon with the left gripper +- Place the square wooden block on the blue plate with the left gripper +- Place the peach on the blue plate with the left gripper +- Grasp the round wooden block with the right gripper +- Place the blue pot on the blue plate with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -395,10 +308,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -406,7 +322,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 19084 fps: 30 @@ -493,9 +410,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_blue_plate_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -763,7 +682,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -771,6 +690,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -797,6 +717,351 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_blue_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the blue plate. + sub_tasks: + - subtask: Place the shower sphere on the blue plate with the left gripper + subtask_index: 0 + - subtask: Place the round wooden block on the blue plate with the right gripper + subtask_index: 1 + - subtask: Grasp the blue pot with the left gripper + subtask_index: 2 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 3 + - subtask: Place the soft facial cleanser on the blue plate with the right gripper + subtask_index: 4 + - subtask: Place the potato chips on the blue plate with the right gripper + subtask_index: 5 + - subtask: Grasp the Itchy scratcher with the right gripper + subtask_index: 6 + - subtask: Place the duck toy on the blue plate with the right gripper + subtask_index: 7 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 8 + - subtask: Place the tin on the blue plate with the left gripper + subtask_index: 9 + - subtask: Grasp the banana with the left gripper + subtask_index: 10 + - subtask: Place the chocolate cake on the blue plate with the right gripper + subtask_index: 11 + - subtask: Place the blue cup on the blue plate with the right gripper + subtask_index: 12 + - subtask: Place the blue pot on the blue plate with the left gripper + subtask_index: 13 + - subtask: Place the tape on the blue plate with the left gripper + subtask_index: 14 + - subtask: Grasp the compasses with the right gripper + subtask_index: 15 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 16 + - subtask: Place the blackboard erasure on the blue plate with the right gripper + subtask_index: 17 + - subtask: Place the tin on the blue plate with the right gripper + subtask_index: 18 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 19 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 20 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 21 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 22 + - subtask: Place the compasses on the blue plate with the right gripper + subtask_index: 23 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 24 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 25 + - subtask: Place the round wooden block on the blue plate with the left gripper + subtask_index: 26 + - subtask: Place the banana on the blue plate with the left gripper + subtask_index: 27 + - subtask: Grasp the tin with the left gripper + subtask_index: 28 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 29 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 30 + - subtask: Place the Itchy scratcher on the blue plate with the right gripper + subtask_index: 31 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 32 + - subtask: Grasp the peach with the right gripper + subtask_index: 33 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 34 + - subtask: Place the coke on the blue plate with the left gripper + subtask_index: 35 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 36 + - subtask: Place the compasses on the blue plate with the left gripper + subtask_index: 37 + - subtask: Place the hard facial cleanser on the blue plate with the left gripper + subtask_index: 38 + - subtask: Place the yogurt on the blue plate with the right gripper + subtask_index: 39 + - subtask: Grasp the peach with the left gripper + subtask_index: 40 + - subtask: Place the square wooden block on the blue plate with the right gripper + subtask_index: 41 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 42 + - subtask: End + subtask_index: 43 + - subtask: Place the duck toy on the blue plate with the left gripper + subtask_index: 44 + - subtask: Grasp the coke with the left gripper + subtask_index: 45 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 46 + - subtask: Place the round bread on the blue plate with the left gripper + subtask_index: 47 + - subtask: Place the plugboard on the blue plate with the left gripper + subtask_index: 48 + - subtask: Grasp the compasses with the left gripper + subtask_index: 49 + - subtask: Place the green lemon on the blue plate with the left gripper + subtask_index: 50 + - subtask: Place the peach on the blue plate with the right gripper + subtask_index: 51 + - subtask: Place the chocolate on the blue plate with the right gripper + subtask_index: 52 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 53 + - subtask: Grasp the round bread with the right gripper + subtask_index: 54 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 55 + - subtask: Place the hard facial cleanser on the blue plate with the right gripper + subtask_index: 56 + - subtask: Place the brown towel on the blue plate with the right gripper + subtask_index: 57 + - subtask: Grasp the tin with the right gripper + subtask_index: 58 + - subtask: Place the blue cup on the blue plate with the left gripper + subtask_index: 59 + - subtask: Grasp the tape with the right gripper + subtask_index: 60 + - subtask: Grasp the coke with the right gripper + subtask_index: 61 + - subtask: Grasp the tape with the left gripper + subtask_index: 62 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 63 + - subtask: Place the banana on the blue plate with the right gripper + subtask_index: 64 + - subtask: Place the shower sphere on the blue plate with the right gripper + subtask_index: 65 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 66 + - subtask: Place the square chewing gum on the blue plate with the left gripper + subtask_index: 67 + - subtask: Place the plugboard on the blue plate with the right gripper + subtask_index: 68 + - subtask: Place the round bread on the blue plate with the right gripper + subtask_index: 69 + - subtask: Place the chocolate cake on the blue plate with the left gripper + subtask_index: 70 + - subtask: Grasp the round bread with the left gripper + subtask_index: 71 + - subtask: Place the brown towel on the blue plate with the left gripper + subtask_index: 72 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 73 + - subtask: Place the coke on the blue plate with the right gripper + subtask_index: 74 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 75 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 76 + - subtask: Place the tape on the blue plate with the right gripper + subtask_index: 77 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 78 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 79 + - subtask: Place the square wooden block on the blue plate with the left gripper + subtask_index: 80 + - subtask: Place the peach on the blue plate with the left gripper + subtask_index: 81 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 82 + - subtask: Place the blue pot on the blue plate with the right gripper + subtask_index: 83 + - subtask: Grasp the banana with the right gripper + subtask_index: 84 + - subtask: 'null' + subtask_index: 85 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 19084 + dataset_size: 740.73 MB + data_structure: 'Galaxea_R1_Lite_storage_object_blue_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml index cd2c10883b557ce0e380d736d01de0b4bf765765..2e1beb5981c54d480c0395bcab8501acb658d9f7 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_basket level1: basket level2: brown_basket @@ -195,200 +195,111 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the brown basket. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the brown basket. sub_tasks: -- subtask: Grasp the blue pot with the left gripper - subtask_index: 0 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 1 -- subtask: Place the potato chips into the basket with the left gripper - subtask_index: 2 -- subtask: Place the banana into the basket with the left gripper - subtask_index: 3 -- subtask: Place the coke into the basket with the left gripper - subtask_index: 4 -- subtask: Place the brown towel into the basket with the right gripper - subtask_index: 5 -- subtask: Place the peach slice into the basket with the right gripper - subtask_index: 6 -- subtask: Grasp the banana with the left gripper - subtask_index: 7 -- subtask: Place the round wooden block into the basket with the right gripper - subtask_index: 8 -- subtask: Place the duck toy into the basket with the right gripper - subtask_index: 9 -- subtask: Grasp the compasses with the right gripper - subtask_index: 10 -- subtask: Place the blackboard erasure into the basket with the left gripper - subtask_index: 11 -- subtask: Place the plugboard into the basket with the left gripper - subtask_index: 12 -- subtask: Place the square chewing gum into the basket with the right gripper - subtask_index: 13 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 14 -- subtask: Grasp the cookie with the right gripper - subtask_index: 15 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 16 -- subtask: Place the blackboard erasure into the basket with the right gripper - subtask_index: 17 -- subtask: Place the hard facial cleanser into the basket with the left gripper - subtask_index: 18 -- subtask: Place the round bread into the basket with the left gripper - subtask_index: 19 -- subtask: Place the square wooden block into the basket with the right gripper - subtask_index: 20 -- subtask: Grasp the soft facial cleanser with the left gripper - subtask_index: 21 -- subtask: Place the blue pot into the basket with the left gripper - subtask_index: 22 -- subtask: Grasp the peach slice with the right gripper - subtask_index: 23 -- subtask: Place the soft facial cleanser into the basket with the left gripper - subtask_index: 24 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 25 -- subtask: Place the shower sphere into the basket with the left gripper - subtask_index: 26 -- subtask: Place the yogurt into the basket with the right gripper - subtask_index: 27 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 28 -- subtask: Place the round wooden block into the basket with the left gripper - subtask_index: 29 -- subtask: Place the back scratcher into the basket with the left gripper - subtask_index: 30 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 31 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 32 -- subtask: Grasp the tin with the left gripper - subtask_index: 33 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 34 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 35 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 36 -- subtask: Grasp the back scratcher with the left gripper - subtask_index: 37 -- subtask: Place the hard facial cleanser into the basket with the right gripper - subtask_index: 38 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 39 -- subtask: Place the green lemon into the basket with the right gripper - subtask_index: 40 -- subtask: Place the banana into the basket with the right gripper - subtask_index: 41 -- subtask: Place the compasses into the basket with the right gripper - subtask_index: 42 -- subtask: Place the compasses into the basket with the left gripper - subtask_index: 43 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 44 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 45 -- subtask: Place the duck toy into the basket with the left gripper - subtask_index: 46 -- subtask: Place the chocolate cake into the basket with the right gripper - subtask_index: 47 -- subtask: Place the shower sphere into the basket with the right gripper - subtask_index: 48 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 49 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 50 -- subtask: End - subtask_index: 51 -- subtask: Place the cookie into the basket with the right gripper - subtask_index: 52 -- subtask: Place the tape into the basket with the right gripper - subtask_index: 53 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 54 -- subtask: Place the bread slice into the basket with the left gripper - subtask_index: 55 -- subtask: Grasp the coke with the left gripper - subtask_index: 56 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 57 -- subtask: Place the tape into the basket with the left gripper - subtask_index: 58 -- subtask: Place the blue cup into the basket with the left gripper - subtask_index: 59 -- subtask: Grasp the compasses with the left gripper - subtask_index: 60 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 61 -- subtask: Grasp the round bread with the right gripper - subtask_index: 62 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 63 -- subtask: Place the blue pot into the basket with the right gripper - subtask_index: 64 -- subtask: Grasp the tin with the right gripper - subtask_index: 65 -- subtask: Place the tin into the basket with the left gripper - subtask_index: 66 -- subtask: Grasp the tape with the right gripper - subtask_index: 67 -- subtask: Place the square chewing gum into the basket with the left gripper - subtask_index: 68 -- subtask: Place the bread slice into the basket with the right gripper - subtask_index: 69 -- subtask: Grasp the tape with the left gripper - subtask_index: 70 -- subtask: Place the blue cup into the basket with the right gripper - subtask_index: 71 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 72 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 73 -- subtask: Place the chocolate cake into the basket with the left gripper - subtask_index: 74 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 75 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 76 -- subtask: Place the round bread into the basket with the right gripper - subtask_index: 77 -- subtask: Grasp the round bread with the left gripper - subtask_index: 78 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 79 -- subtask: Place the brown towel into the basket with the left gripper - subtask_index: 80 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 81 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 82 -- subtask: Place the square wooden block into the basket with the left gripper - subtask_index: 83 -- subtask: Place the tin into the basket with the right gripper - subtask_index: 84 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 85 -- subtask: Grasp the banana with the right gripper - subtask_index: 86 -- subtask: 'null' - subtask_index: 87 +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Place the potato chips into the basket with the left gripper +- Place the banana into the basket with the left gripper +- Place the coke into the basket with the left gripper +- Place the brown towel into the basket with the right gripper +- Place the peach slice into the basket with the right gripper +- Grasp the banana with the left gripper +- Place the round wooden block into the basket with the right gripper +- Place the duck toy into the basket with the right gripper +- Grasp the compasses with the right gripper +- Place the blackboard erasure into the basket with the left gripper +- Place the plugboard into the basket with the left gripper +- Place the square chewing gum into the basket with the right gripper +- Grasp the duck toy with the left gripper +- Grasp the cookie with the right gripper +- Grasp the blue cup with the left gripper +- Place the blackboard erasure into the basket with the right gripper +- Place the hard facial cleanser into the basket with the left gripper +- Place the round bread into the basket with the left gripper +- Place the square wooden block into the basket with the right gripper +- Grasp the soft facial cleanser with the left gripper +- Place the blue pot into the basket with the left gripper +- Grasp the peach slice with the right gripper +- Place the soft facial cleanser into the basket with the left gripper +- Grasp the square chewing gum with the left gripper +- Place the shower sphere into the basket with the left gripper +- Place the yogurt into the basket with the right gripper +- Grasp the chocolate cake with the right gripper +- Place the round wooden block into the basket with the left gripper +- Place the back scratcher into the basket with the left gripper +- Grasp the shower sphere with the left gripper +- Grasp the yogurt with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the brown towel with the right gripper +- Grasp the back scratcher with the left gripper +- Place the hard facial cleanser into the basket with the right gripper +- Grasp the hard facial cleanser with the right gripper +- Place the green lemon into the basket with the right gripper +- Place the banana into the basket with the right gripper +- Place the compasses into the basket with the right gripper +- Place the compasses into the basket with the left gripper +- Grasp the green lemon with the right gripper +- Grasp the bread slice with the right gripper +- Place the duck toy into the basket with the left gripper +- Place the chocolate cake into the basket with the right gripper +- Place the shower sphere into the basket with the right gripper +- Grasp the potato chips with the left gripper +- Grasp the duck toy with the right gripper +- End +- Place the cookie into the basket with the right gripper +- Place the tape into the basket with the right gripper +- Grasp the blackboard erasure with the left gripper +- Place the bread slice into the basket with the left gripper +- Grasp the coke with the left gripper +- Grasp the round wooden block with the left gripper +- Place the tape into the basket with the left gripper +- Place the blue cup into the basket with the left gripper +- Grasp the compasses with the left gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the blue pot into the basket with the right gripper +- Grasp the tin with the right gripper +- Place the tin into the basket with the left gripper +- Grasp the tape with the right gripper +- Place the square chewing gum into the basket with the left gripper +- Place the bread slice into the basket with the right gripper +- Grasp the tape with the left gripper +- Place the blue cup into the basket with the right gripper +- Grasp the square chewing gum with the right gripper +- Grasp the shower sphere with the right gripper +- Place the chocolate cake into the basket with the left gripper +- Grasp the bread slice with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the round bread into the basket with the right gripper +- Grasp the round bread with the left gripper +- Grasp the square wooden block with the left gripper +- Place the brown towel into the basket with the left gripper +- Grasp the blue cup with the right gripper +- Grasp the square wooden block with the right gripper +- Place the square wooden block into the basket with the left gripper +- Place the tin into the basket with the right gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -399,10 +310,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -410,7 +324,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 18209 fps: 30 @@ -497,9 +412,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_brown_basket_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -767,7 +684,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -775,6 +692,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -801,6 +719,355 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_brown_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the brown basket. + sub_tasks: + - subtask: Grasp the blue pot with the left gripper + subtask_index: 0 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 1 + - subtask: Place the potato chips into the basket with the left gripper + subtask_index: 2 + - subtask: Place the banana into the basket with the left gripper + subtask_index: 3 + - subtask: Place the coke into the basket with the left gripper + subtask_index: 4 + - subtask: Place the brown towel into the basket with the right gripper + subtask_index: 5 + - subtask: Place the peach slice into the basket with the right gripper + subtask_index: 6 + - subtask: Grasp the banana with the left gripper + subtask_index: 7 + - subtask: Place the round wooden block into the basket with the right gripper + subtask_index: 8 + - subtask: Place the duck toy into the basket with the right gripper + subtask_index: 9 + - subtask: Grasp the compasses with the right gripper + subtask_index: 10 + - subtask: Place the blackboard erasure into the basket with the left gripper + subtask_index: 11 + - subtask: Place the plugboard into the basket with the left gripper + subtask_index: 12 + - subtask: Place the square chewing gum into the basket with the right gripper + subtask_index: 13 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 14 + - subtask: Grasp the cookie with the right gripper + subtask_index: 15 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 16 + - subtask: Place the blackboard erasure into the basket with the right gripper + subtask_index: 17 + - subtask: Place the hard facial cleanser into the basket with the left gripper + subtask_index: 18 + - subtask: Place the round bread into the basket with the left gripper + subtask_index: 19 + - subtask: Place the square wooden block into the basket with the right gripper + subtask_index: 20 + - subtask: Grasp the soft facial cleanser with the left gripper + subtask_index: 21 + - subtask: Place the blue pot into the basket with the left gripper + subtask_index: 22 + - subtask: Grasp the peach slice with the right gripper + subtask_index: 23 + - subtask: Place the soft facial cleanser into the basket with the left gripper + subtask_index: 24 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 25 + - subtask: Place the shower sphere into the basket with the left gripper + subtask_index: 26 + - subtask: Place the yogurt into the basket with the right gripper + subtask_index: 27 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 28 + - subtask: Place the round wooden block into the basket with the left gripper + subtask_index: 29 + - subtask: Place the back scratcher into the basket with the left gripper + subtask_index: 30 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 31 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 32 + - subtask: Grasp the tin with the left gripper + subtask_index: 33 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 34 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 35 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 36 + - subtask: Grasp the back scratcher with the left gripper + subtask_index: 37 + - subtask: Place the hard facial cleanser into the basket with the right gripper + subtask_index: 38 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 39 + - subtask: Place the green lemon into the basket with the right gripper + subtask_index: 40 + - subtask: Place the banana into the basket with the right gripper + subtask_index: 41 + - subtask: Place the compasses into the basket with the right gripper + subtask_index: 42 + - subtask: Place the compasses into the basket with the left gripper + subtask_index: 43 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 44 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 45 + - subtask: Place the duck toy into the basket with the left gripper + subtask_index: 46 + - subtask: Place the chocolate cake into the basket with the right gripper + subtask_index: 47 + - subtask: Place the shower sphere into the basket with the right gripper + subtask_index: 48 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 49 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 50 + - subtask: End + subtask_index: 51 + - subtask: Place the cookie into the basket with the right gripper + subtask_index: 52 + - subtask: Place the tape into the basket with the right gripper + subtask_index: 53 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 54 + - subtask: Place the bread slice into the basket with the left gripper + subtask_index: 55 + - subtask: Grasp the coke with the left gripper + subtask_index: 56 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 57 + - subtask: Place the tape into the basket with the left gripper + subtask_index: 58 + - subtask: Place the blue cup into the basket with the left gripper + subtask_index: 59 + - subtask: Grasp the compasses with the left gripper + subtask_index: 60 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 61 + - subtask: Grasp the round bread with the right gripper + subtask_index: 62 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 63 + - subtask: Place the blue pot into the basket with the right gripper + subtask_index: 64 + - subtask: Grasp the tin with the right gripper + subtask_index: 65 + - subtask: Place the tin into the basket with the left gripper + subtask_index: 66 + - subtask: Grasp the tape with the right gripper + subtask_index: 67 + - subtask: Place the square chewing gum into the basket with the left gripper + subtask_index: 68 + - subtask: Place the bread slice into the basket with the right gripper + subtask_index: 69 + - subtask: Grasp the tape with the left gripper + subtask_index: 70 + - subtask: Place the blue cup into the basket with the right gripper + subtask_index: 71 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 72 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 73 + - subtask: Place the chocolate cake into the basket with the left gripper + subtask_index: 74 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 75 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 76 + - subtask: Place the round bread into the basket with the right gripper + subtask_index: 77 + - subtask: Grasp the round bread with the left gripper + subtask_index: 78 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 79 + - subtask: Place the brown towel into the basket with the left gripper + subtask_index: 80 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 81 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 82 + - subtask: Place the square wooden block into the basket with the left gripper + subtask_index: 83 + - subtask: Place the tin into the basket with the right gripper + subtask_index: 84 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 85 + - subtask: Grasp the banana with the right gripper + subtask_index: 86 + - subtask: 'null' + subtask_index: 87 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 18209 + dataset_size: 899.78 MB + data_structure: 'Galaxea_R1_Lite_storage_object_brown_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml index 151ab9b5c791e78ab48054af392f2258eea0361d..bfe7cb0b91167a6b1fedfc96576471d4a6cfd488 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_bowl level1: plastic_bowl level2: brown_bowl @@ -195,192 +195,107 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the brown bowl. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the brown bowl. sub_tasks: -- subtask: Grasp the blue pot with the left gripper - subtask_index: 0 -- subtask: Place the coke in the bowl with the left gripper - subtask_index: 1 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 2 -- subtask: Place the back scratcher in the bowl with the right gripper - subtask_index: 3 -- subtask: Place the plugboard in the bowl with the right gripper - subtask_index: 4 -- subtask: Place the compasses in the bowl with the right gripper - subtask_index: 5 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 6 -- subtask: Grasp the banana with the left gripper - subtask_index: 7 -- subtask: Place the square chewing gum in the bowl with the right gripper - subtask_index: 8 -- subtask: Place the round wooden block in the bowl with the right gripper - subtask_index: 9 -- subtask: Place the tin in the bowl with the left gripper - subtask_index: 10 -- subtask: Grasp the compasses with the right gripper - subtask_index: 11 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 12 -- subtask: Place the potato chips in the bowl with the left gripper - subtask_index: 13 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 14 -- subtask: Place the chocolate cake in the bowl with the right gripper - subtask_index: 15 -- subtask: Grasp the back scratcher with the right gripper - subtask_index: 16 -- subtask: Place the square wooden block in the bowl with the right gripper - subtask_index: 17 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 18 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 19 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 20 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 21 -- subtask: Grasp the tin with the left gripper - subtask_index: 22 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 23 -- subtask: Place the square wooden block in the bowl with the left gripper - subtask_index: 24 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 25 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 26 -- subtask: Place the potato chips in the bowl with the right gripper - subtask_index: 27 -- subtask: Place the duck toy in the bowl with the left gripper - subtask_index: 28 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 29 -- subtask: Place the green lemon in the bowl with the right gripper - subtask_index: 30 -- subtask: Grasp the peach with the left gripper - subtask_index: 31 -- subtask: Place the peach in the bowl with the left gripper - subtask_index: 32 -- subtask: Place the soft facial cleanser in the bowl with the right gripper - subtask_index: 33 -- subtask: Place the shower sphere in the bowl with the left gripper - subtask_index: 34 -- subtask: Place the banana in the bowl with the right gripper - subtask_index: 35 -- subtask: Place the shower sphere in the bowl with the right gripper - subtask_index: 36 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 37 -- subtask: Place the brown towel in the bowl with the right gripper - subtask_index: 38 -- subtask: Place the blackboard erasure in the bowl with the left gripper - subtask_index: 39 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 40 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 41 -- subtask: End - subtask_index: 42 -- subtask: Place the blue cup in the bowl with the right gripper - subtask_index: 43 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 44 -- subtask: Grasp the coke with the left gripper - subtask_index: 45 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 46 -- subtask: Place the round wooden block in the bowl with the left gripper - subtask_index: 47 -- subtask: Place the banana in the bowl with the left gripper - subtask_index: 48 -- subtask: Place the chocolate cake in the bowl with the left gripper - subtask_index: 49 -- subtask: Place the tape in the bowl with the right gripper - subtask_index: 50 -- subtask: Grasp the compasses with the left gripper - subtask_index: 51 -- subtask: Place the chocolate in the bowl with the left gripper - subtask_index: 52 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 53 -- subtask: Place the hard facial cleanser in the bowl with the left gripper - subtask_index: 54 -- subtask: Grasp the round bread with the right gripper - subtask_index: 55 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 56 -- subtask: Place the hard facial cleanser in the bowl with the right gripper - subtask_index: 57 -- subtask: Place the round bread in the bowl with the right gripper - subtask_index: 58 -- subtask: Grasp the tape with the right gripper - subtask_index: 59 -- subtask: Place the tape in the bowl with the left gripper - subtask_index: 60 -- subtask: Grasp the coke with the right gripper - subtask_index: 61 -- subtask: Grasp the tape with the left gripper - subtask_index: 62 -- subtask: Place the duck toy in the bowl with the right gripper - subtask_index: 63 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 64 -- subtask: Place the blue pot in the bowl with the left gripper - subtask_index: 65 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 66 -- subtask: Place the plugboard in the bowl with the left gripper - subtask_index: 67 -- subtask: Place the coke in the bowl with the right gripper - subtask_index: 68 -- subtask: Place the round bread in the bowl with the left gripper - subtask_index: 69 -- subtask: Place the blue cup in the bowl with the left gripper - subtask_index: 70 -- subtask: Place the blue pot in the bowl with the right gripper - subtask_index: 71 -- subtask: Grasp the round bread with the left gripper - subtask_index: 72 -- subtask: Grasp the chocolate with the left gripper - subtask_index: 73 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 74 -- subtask: Place the yogurt in the bowl with the right gripper - subtask_index: 75 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 76 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 77 -- subtask: Place the compasses in the bowl with the left gripper - subtask_index: 78 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 79 -- subtask: Place the brown towel in the bowl with the left gripper - subtask_index: 80 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 81 -- subtask: Grasp the banana with the right gripper - subtask_index: 82 -- subtask: 'null' - subtask_index: 83 +- Grasp the blue pot with the left gripper +- Place the coke in the bowl with the left gripper +- Grasp the plugboard with the left gripper +- Place the back scratcher in the bowl with the right gripper +- Place the plugboard in the bowl with the right gripper +- Place the compasses in the bowl with the right gripper +- Grasp the potato chips with the right gripper +- Grasp the banana with the left gripper +- Place the square chewing gum in the bowl with the right gripper +- Place the round wooden block in the bowl with the right gripper +- Place the tin in the bowl with the left gripper +- Grasp the compasses with the right gripper +- Grasp the duck toy with the left gripper +- Place the potato chips in the bowl with the left gripper +- Grasp the blue cup with the left gripper +- Place the chocolate cake in the bowl with the right gripper +- Grasp the back scratcher with the right gripper +- Place the square wooden block in the bowl with the right gripper +- Grasp the chocolate cake with the right gripper +- Grasp the shower sphere with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Place the square wooden block in the bowl with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the brown towel with the right gripper +- Place the potato chips in the bowl with the right gripper +- Place the duck toy in the bowl with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the green lemon in the bowl with the right gripper +- Grasp the peach with the left gripper +- Place the peach in the bowl with the left gripper +- Place the soft facial cleanser in the bowl with the right gripper +- Place the shower sphere in the bowl with the left gripper +- Place the banana in the bowl with the right gripper +- Place the shower sphere in the bowl with the right gripper +- Grasp the green lemon with the right gripper +- Place the brown towel in the bowl with the right gripper +- Place the blackboard erasure in the bowl with the left gripper +- Grasp the potato chips with the left gripper +- Grasp the duck toy with the right gripper +- End +- Place the blue cup in the bowl with the right gripper +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Grasp the round wooden block with the left gripper +- Place the round wooden block in the bowl with the left gripper +- Place the banana in the bowl with the left gripper +- Place the chocolate cake in the bowl with the left gripper +- Place the tape in the bowl with the right gripper +- Grasp the compasses with the left gripper +- Place the chocolate in the bowl with the left gripper +- Grasp the blue pot with the right gripper +- Place the hard facial cleanser in the bowl with the left gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the hard facial cleanser in the bowl with the right gripper +- Place the round bread in the bowl with the right gripper +- Grasp the tape with the right gripper +- Place the tape in the bowl with the left gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Place the duck toy in the bowl with the right gripper +- Grasp the square chewing gum with the right gripper +- Place the blue pot in the bowl with the left gripper +- Grasp the shower sphere with the right gripper +- Place the plugboard in the bowl with the left gripper +- Place the coke in the bowl with the right gripper +- Place the round bread in the bowl with the left gripper +- Place the blue cup in the bowl with the left gripper +- Place the blue pot in the bowl with the right gripper +- Grasp the round bread with the left gripper +- Grasp the chocolate with the left gripper +- Grasp the square wooden block with the left gripper +- Place the yogurt in the bowl with the right gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Place the compasses in the bowl with the left gripper +- Grasp the square wooden block with the right gripper +- Place the brown towel in the bowl with the left gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -391,10 +306,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -402,7 +320,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 101 total_frames: 23706 fps: 30 @@ -489,9 +408,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_brown_bowl_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:100 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -759,7 +680,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -767,6 +688,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -793,6 +715,347 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_brown_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the brown bowl. + sub_tasks: + - subtask: Grasp the blue pot with the left gripper + subtask_index: 0 + - subtask: Place the coke in the bowl with the left gripper + subtask_index: 1 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 2 + - subtask: Place the back scratcher in the bowl with the right gripper + subtask_index: 3 + - subtask: Place the plugboard in the bowl with the right gripper + subtask_index: 4 + - subtask: Place the compasses in the bowl with the right gripper + subtask_index: 5 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 6 + - subtask: Grasp the banana with the left gripper + subtask_index: 7 + - subtask: Place the square chewing gum in the bowl with the right gripper + subtask_index: 8 + - subtask: Place the round wooden block in the bowl with the right gripper + subtask_index: 9 + - subtask: Place the tin in the bowl with the left gripper + subtask_index: 10 + - subtask: Grasp the compasses with the right gripper + subtask_index: 11 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 12 + - subtask: Place the potato chips in the bowl with the left gripper + subtask_index: 13 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 14 + - subtask: Place the chocolate cake in the bowl with the right gripper + subtask_index: 15 + - subtask: Grasp the back scratcher with the right gripper + subtask_index: 16 + - subtask: Place the square wooden block in the bowl with the right gripper + subtask_index: 17 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 18 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 19 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 20 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 21 + - subtask: Grasp the tin with the left gripper + subtask_index: 22 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 23 + - subtask: Place the square wooden block in the bowl with the left gripper + subtask_index: 24 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 25 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 26 + - subtask: Place the potato chips in the bowl with the right gripper + subtask_index: 27 + - subtask: Place the duck toy in the bowl with the left gripper + subtask_index: 28 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 29 + - subtask: Place the green lemon in the bowl with the right gripper + subtask_index: 30 + - subtask: Grasp the peach with the left gripper + subtask_index: 31 + - subtask: Place the peach in the bowl with the left gripper + subtask_index: 32 + - subtask: Place the soft facial cleanser in the bowl with the right gripper + subtask_index: 33 + - subtask: Place the shower sphere in the bowl with the left gripper + subtask_index: 34 + - subtask: Place the banana in the bowl with the right gripper + subtask_index: 35 + - subtask: Place the shower sphere in the bowl with the right gripper + subtask_index: 36 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 37 + - subtask: Place the brown towel in the bowl with the right gripper + subtask_index: 38 + - subtask: Place the blackboard erasure in the bowl with the left gripper + subtask_index: 39 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 40 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 41 + - subtask: End + subtask_index: 42 + - subtask: Place the blue cup in the bowl with the right gripper + subtask_index: 43 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 44 + - subtask: Grasp the coke with the left gripper + subtask_index: 45 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 46 + - subtask: Place the round wooden block in the bowl with the left gripper + subtask_index: 47 + - subtask: Place the banana in the bowl with the left gripper + subtask_index: 48 + - subtask: Place the chocolate cake in the bowl with the left gripper + subtask_index: 49 + - subtask: Place the tape in the bowl with the right gripper + subtask_index: 50 + - subtask: Grasp the compasses with the left gripper + subtask_index: 51 + - subtask: Place the chocolate in the bowl with the left gripper + subtask_index: 52 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 53 + - subtask: Place the hard facial cleanser in the bowl with the left gripper + subtask_index: 54 + - subtask: Grasp the round bread with the right gripper + subtask_index: 55 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 56 + - subtask: Place the hard facial cleanser in the bowl with the right gripper + subtask_index: 57 + - subtask: Place the round bread in the bowl with the right gripper + subtask_index: 58 + - subtask: Grasp the tape with the right gripper + subtask_index: 59 + - subtask: Place the tape in the bowl with the left gripper + subtask_index: 60 + - subtask: Grasp the coke with the right gripper + subtask_index: 61 + - subtask: Grasp the tape with the left gripper + subtask_index: 62 + - subtask: Place the duck toy in the bowl with the right gripper + subtask_index: 63 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 64 + - subtask: Place the blue pot in the bowl with the left gripper + subtask_index: 65 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 66 + - subtask: Place the plugboard in the bowl with the left gripper + subtask_index: 67 + - subtask: Place the coke in the bowl with the right gripper + subtask_index: 68 + - subtask: Place the round bread in the bowl with the left gripper + subtask_index: 69 + - subtask: Place the blue cup in the bowl with the left gripper + subtask_index: 70 + - subtask: Place the blue pot in the bowl with the right gripper + subtask_index: 71 + - subtask: Grasp the round bread with the left gripper + subtask_index: 72 + - subtask: Grasp the chocolate with the left gripper + subtask_index: 73 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 74 + - subtask: Place the yogurt in the bowl with the right gripper + subtask_index: 75 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 76 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 77 + - subtask: Place the compasses in the bowl with the left gripper + subtask_index: 78 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 79 + - subtask: Place the brown towel in the bowl with the left gripper + subtask_index: 80 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 81 + - subtask: Grasp the banana with the right gripper + subtask_index: 82 + - subtask: 'null' + subtask_index: 83 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 23706 + dataset_size: 909.34 MB + data_structure: 'Galaxea_R1_Lite_storage_object_brown_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml index b10fcc523af00e832830561386971604d201f272..27709d70e90ddd87893f3c0a3678b8f22e75003b 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: brown_plate level1: plates level2: brown_plate @@ -195,204 +195,113 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the brown plate. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the brown plate. sub_tasks: -- subtask: Place the blue pot on the brown plate with the right gripper - subtask_index: 0 -- subtask: Grasp the blue pot with the left gripper - subtask_index: 1 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 2 -- subtask: Place the soft facial cleanser on the brown plate with the right gripper - subtask_index: 3 -- subtask: Place the back scratcher on the brown plate with the right gripper - subtask_index: 4 -- subtask: Place the blackboard erasure on the brown plate with the left gripper - subtask_index: 5 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 6 -- subtask: Grasp the banana with the left gripper - subtask_index: 7 -- subtask: Place the coke on the brown plate with the right gripper - subtask_index: 8 -- subtask: Place the chocolate on the brown plate with the left gripper - subtask_index: 9 -- subtask: Place the duck toy on the brown plate with the right gripper - subtask_index: 10 -- subtask: Grasp the compasses with the right gripper - subtask_index: 11 -- subtask: Place the peach on the brown plate with the left gripper - subtask_index: 12 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 13 -- subtask: Place the round wooden block on the brown plate with the right gripper - subtask_index: 14 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 15 -- subtask: Place the green lemon on the brown plate with the left gripper - subtask_index: 16 -- subtask: Place the shower sphere on the brown plate with the left gripper - subtask_index: 17 -- subtask: Place the shower sphere on the brown plate with the right gripper - subtask_index: 18 -- subtask: Grasp the back scratcher with the right gripper - subtask_index: 19 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 20 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 21 -- subtask: Place the yogurt on the brown plate with the right gripper - subtask_index: 22 -- subtask: Place the banana on the brown plate with the left gripper - subtask_index: 23 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 24 -- subtask: Place the brown towel on the brown plate with the left gripper - subtask_index: 25 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 26 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 27 -- subtask: Place the blue cup on the brown plate with the right gripper - subtask_index: 28 -- subtask: Place the plugboard on the brown plate with the right gripper - subtask_index: 29 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 30 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 31 -- subtask: Place the duck toy on the brown plate with the left gripper - subtask_index: 32 -- subtask: Place the round bread on the brown plate with the right gripper - subtask_index: 33 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 34 -- subtask: Place the bread slice on the brown plate with the left gripper - subtask_index: 35 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 36 -- subtask: Place the chocolate cake on the brown plate with the right gripper - subtask_index: 37 -- subtask: Grasp the peach with the left gripper - subtask_index: 38 -- subtask: Place the tin on the brown plate with the right gripper - subtask_index: 39 -- subtask: Place the tape on the brown plate with the right gripper - subtask_index: 40 -- subtask: Place the blackboard erasure on the brown plate with the right gripper - subtask_index: 41 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 42 -- subtask: Place the potato chips on the brown plate with the right gripper - subtask_index: 43 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 44 -- subtask: Place the tape on the brown plate with the left gripper - subtask_index: 45 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 46 -- subtask: End - subtask_index: 47 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 48 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 49 -- subtask: Place the brown towel on the brown plate with the right gripper - subtask_index: 50 -- subtask: Place the blue cup on the brown plate with the left gripper - subtask_index: 51 -- subtask: Place the compasses on the brown plate with the right gripper - subtask_index: 52 -- subtask: Grasp the compasses with the left gripper - subtask_index: 53 -- subtask: Place the compasses on the brown plate with the left gripper - subtask_index: 54 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 55 -- subtask: Grasp the round bread with the right gripper - subtask_index: 56 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 57 -- subtask: Place the potato chips on the brown plate with the left gripper - subtask_index: 58 -- subtask: Place the plugboard on the brown plate with the left gripper - subtask_index: 59 -- subtask: Place the square chewing gum on the brown plate with the right gripper - subtask_index: 60 -- subtask: Place the banana on the brown plate with the right gripper - subtask_index: 61 -- subtask: Grasp the tin with the right gripper - subtask_index: 62 -- subtask: Place the hard facial cleanser on the brown plate with the left gripper - subtask_index: 63 -- subtask: Place the square wooden block on the brown plate with the left gripper - subtask_index: 64 -- subtask: Place the square chewing gum on the brown plate with the left gripper - subtask_index: 65 -- subtask: Grasp the tape with the right gripper - subtask_index: 66 -- subtask: Grasp the coke with the right gripper - subtask_index: 67 -- subtask: Grasp the tape with the left gripper - subtask_index: 68 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 69 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 70 -- subtask: Place the square wooden block on the brown plate with the right gripper - subtask_index: 71 -- subtask: Place the hard facial cleanser on the brown plate with the right gripper - subtask_index: 72 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 73 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 74 -- subtask: Place the bread slice on the brown plate with the right gripper - subtask_index: 75 -- subtask: Grasp the round bread with the left gripper - subtask_index: 76 -- subtask: Grasp the chocolate with the left gripper - subtask_index: 77 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 78 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 79 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 80 -- subtask: Place the chocolate cake on the brown plate with the left gripper - subtask_index: 81 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 82 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 83 -- subtask: Place the round wooden block on the brown plate with the left gripper - subtask_index: 84 -- subtask: Place the round bread on the brown plate with the left gripper - subtask_index: 85 -- subtask: Place the blue pot on the brown plate with the left gripper - subtask_index: 86 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 87 -- subtask: Grasp the banana with the right gripper - subtask_index: 88 -- subtask: 'null' - subtask_index: 89 +- Place the blue pot on the brown plate with the right gripper +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Place the soft facial cleanser on the brown plate with the right gripper +- Place the back scratcher on the brown plate with the right gripper +- Place the blackboard erasure on the brown plate with the left gripper +- Grasp the potato chips with the right gripper +- Grasp the banana with the left gripper +- Place the coke on the brown plate with the right gripper +- Place the chocolate on the brown plate with the left gripper +- Place the duck toy on the brown plate with the right gripper +- Grasp the compasses with the right gripper +- Place the peach on the brown plate with the left gripper +- Grasp the duck toy with the left gripper +- Place the round wooden block on the brown plate with the right gripper +- Grasp the blue cup with the left gripper +- Place the green lemon on the brown plate with the left gripper +- Place the shower sphere on the brown plate with the left gripper +- Place the shower sphere on the brown plate with the right gripper +- Grasp the back scratcher with the right gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Place the yogurt on the brown plate with the right gripper +- Place the banana on the brown plate with the left gripper +- Grasp the shower sphere with the left gripper +- Place the brown towel on the brown plate with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Place the blue cup on the brown plate with the right gripper +- Place the plugboard on the brown plate with the right gripper +- Grasp the brown towel with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Place the duck toy on the brown plate with the left gripper +- Place the round bread on the brown plate with the right gripper +- Grasp the brown towel with the right gripper +- Place the bread slice on the brown plate with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the chocolate cake on the brown plate with the right gripper +- Grasp the peach with the left gripper +- Place the tin on the brown plate with the right gripper +- Place the tape on the brown plate with the right gripper +- Place the blackboard erasure on the brown plate with the right gripper +- Grasp the bread slice with the right gripper +- Place the potato chips on the brown plate with the right gripper +- Grasp the potato chips with the left gripper +- Place the tape on the brown plate with the left gripper +- Grasp the duck toy with the right gripper +- End +- Grasp the blackboard erasure with the left gripper +- Grasp the round wooden block with the left gripper +- Place the brown towel on the brown plate with the right gripper +- Place the blue cup on the brown plate with the left gripper +- Place the compasses on the brown plate with the right gripper +- Grasp the compasses with the left gripper +- Place the compasses on the brown plate with the left gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the potato chips on the brown plate with the left gripper +- Place the plugboard on the brown plate with the left gripper +- Place the square chewing gum on the brown plate with the right gripper +- Place the banana on the brown plate with the right gripper +- Grasp the tin with the right gripper +- Place the hard facial cleanser on the brown plate with the left gripper +- Place the square wooden block on the brown plate with the left gripper +- Place the square chewing gum on the brown plate with the left gripper +- Grasp the tape with the right gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Grasp the square chewing gum with the right gripper +- Grasp the shower sphere with the right gripper +- Place the square wooden block on the brown plate with the right gripper +- Place the hard facial cleanser on the brown plate with the right gripper +- Grasp the bread slice with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the bread slice on the brown plate with the right gripper +- Grasp the round bread with the left gripper +- Grasp the chocolate with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Place the chocolate cake on the brown plate with the left gripper +- Grasp the square wooden block with the right gripper +- Grasp the green lemon with the left gripper +- Place the round wooden block on the brown plate with the left gripper +- Place the round bread on the brown plate with the left gripper +- Place the blue pot on the brown plate with the left gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -403,10 +312,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -414,7 +326,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 16390 fps: 30 @@ -501,9 +414,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_brown_plate_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -771,7 +686,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -779,6 +694,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -805,6 +721,359 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_brown_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the brown plate. + sub_tasks: + - subtask: Place the blue pot on the brown plate with the right gripper + subtask_index: 0 + - subtask: Grasp the blue pot with the left gripper + subtask_index: 1 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 2 + - subtask: Place the soft facial cleanser on the brown plate with the right gripper + subtask_index: 3 + - subtask: Place the back scratcher on the brown plate with the right gripper + subtask_index: 4 + - subtask: Place the blackboard erasure on the brown plate with the left gripper + subtask_index: 5 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 6 + - subtask: Grasp the banana with the left gripper + subtask_index: 7 + - subtask: Place the coke on the brown plate with the right gripper + subtask_index: 8 + - subtask: Place the chocolate on the brown plate with the left gripper + subtask_index: 9 + - subtask: Place the duck toy on the brown plate with the right gripper + subtask_index: 10 + - subtask: Grasp the compasses with the right gripper + subtask_index: 11 + - subtask: Place the peach on the brown plate with the left gripper + subtask_index: 12 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 13 + - subtask: Place the round wooden block on the brown plate with the right gripper + subtask_index: 14 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 15 + - subtask: Place the green lemon on the brown plate with the left gripper + subtask_index: 16 + - subtask: Place the shower sphere on the brown plate with the left gripper + subtask_index: 17 + - subtask: Place the shower sphere on the brown plate with the right gripper + subtask_index: 18 + - subtask: Grasp the back scratcher with the right gripper + subtask_index: 19 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 20 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 21 + - subtask: Place the yogurt on the brown plate with the right gripper + subtask_index: 22 + - subtask: Place the banana on the brown plate with the left gripper + subtask_index: 23 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 24 + - subtask: Place the brown towel on the brown plate with the left gripper + subtask_index: 25 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 26 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 27 + - subtask: Place the blue cup on the brown plate with the right gripper + subtask_index: 28 + - subtask: Place the plugboard on the brown plate with the right gripper + subtask_index: 29 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 30 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 31 + - subtask: Place the duck toy on the brown plate with the left gripper + subtask_index: 32 + - subtask: Place the round bread on the brown plate with the right gripper + subtask_index: 33 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 34 + - subtask: Place the bread slice on the brown plate with the left gripper + subtask_index: 35 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 36 + - subtask: Place the chocolate cake on the brown plate with the right gripper + subtask_index: 37 + - subtask: Grasp the peach with the left gripper + subtask_index: 38 + - subtask: Place the tin on the brown plate with the right gripper + subtask_index: 39 + - subtask: Place the tape on the brown plate with the right gripper + subtask_index: 40 + - subtask: Place the blackboard erasure on the brown plate with the right gripper + subtask_index: 41 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 42 + - subtask: Place the potato chips on the brown plate with the right gripper + subtask_index: 43 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 44 + - subtask: Place the tape on the brown plate with the left gripper + subtask_index: 45 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 46 + - subtask: End + subtask_index: 47 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 48 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 49 + - subtask: Place the brown towel on the brown plate with the right gripper + subtask_index: 50 + - subtask: Place the blue cup on the brown plate with the left gripper + subtask_index: 51 + - subtask: Place the compasses on the brown plate with the right gripper + subtask_index: 52 + - subtask: Grasp the compasses with the left gripper + subtask_index: 53 + - subtask: Place the compasses on the brown plate with the left gripper + subtask_index: 54 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 55 + - subtask: Grasp the round bread with the right gripper + subtask_index: 56 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 57 + - subtask: Place the potato chips on the brown plate with the left gripper + subtask_index: 58 + - subtask: Place the plugboard on the brown plate with the left gripper + subtask_index: 59 + - subtask: Place the square chewing gum on the brown plate with the right gripper + subtask_index: 60 + - subtask: Place the banana on the brown plate with the right gripper + subtask_index: 61 + - subtask: Grasp the tin with the right gripper + subtask_index: 62 + - subtask: Place the hard facial cleanser on the brown plate with the left gripper + subtask_index: 63 + - subtask: Place the square wooden block on the brown plate with the left gripper + subtask_index: 64 + - subtask: Place the square chewing gum on the brown plate with the left gripper + subtask_index: 65 + - subtask: Grasp the tape with the right gripper + subtask_index: 66 + - subtask: Grasp the coke with the right gripper + subtask_index: 67 + - subtask: Grasp the tape with the left gripper + subtask_index: 68 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 69 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 70 + - subtask: Place the square wooden block on the brown plate with the right gripper + subtask_index: 71 + - subtask: Place the hard facial cleanser on the brown plate with the right gripper + subtask_index: 72 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 73 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 74 + - subtask: Place the bread slice on the brown plate with the right gripper + subtask_index: 75 + - subtask: Grasp the round bread with the left gripper + subtask_index: 76 + - subtask: Grasp the chocolate with the left gripper + subtask_index: 77 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 78 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 79 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 80 + - subtask: Place the chocolate cake on the brown plate with the left gripper + subtask_index: 81 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 82 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 83 + - subtask: Place the round wooden block on the brown plate with the left gripper + subtask_index: 84 + - subtask: Place the round bread on the brown plate with the left gripper + subtask_index: 85 + - subtask: Place the blue pot on the brown plate with the left gripper + subtask_index: 86 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 87 + - subtask: Grasp the banana with the right gripper + subtask_index: 88 + - subtask: 'null' + subtask_index: 89 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 16390 + dataset_size: 615.40 MB + data_structure: 'Galaxea_R1_Lite_storage_object_brown_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml index 0cce8b75d4ba3d37c850277d01dc6ddc22e8df33..105131c8147477632ab604d4b0491aaf914b744d 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_dish.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: dish level1: plates level2: dish @@ -195,204 +195,113 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the dish. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the dish. sub_tasks: -- subtask: Grasp the blue pot with the left gripper - subtask_index: 0 -- subtask: Place the back scratcher on the dish with the right gripper - subtask_index: 1 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 2 -- subtask: Place the soft facial cleanser on the dish with the right gripper - subtask_index: 3 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 4 -- subtask: Grasp the banana with the left gripper - subtask_index: 5 -- subtask: Grasp the compasses with the right gripper - subtask_index: 6 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 7 -- subtask: Place the round bread on the dish with the left gripper - subtask_index: 8 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 9 -- subtask: Place the compasses on the dish with the right gripper - subtask_index: 10 -- subtask: Place the duck toy on the dish with the right gripper - subtask_index: 11 -- subtask: Place the round wooden block on the dish with the right gripper - subtask_index: 12 -- subtask: Place the green lemon on the dish with the right gripper - subtask_index: 13 -- subtask: Grasp the back scratcher with the right gripper - subtask_index: 14 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 15 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 16 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 17 -- subtask: Place the peach on the dish with the left gripper - subtask_index: 18 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 19 -- subtask: Grasp the tin with the left gripper - subtask_index: 20 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 21 -- subtask: Place the brown towel on the dish with the right gripper - subtask_index: 22 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 23 -- subtask: Place the plugboard on the dish with the right gripper - subtask_index: 24 -- subtask: Grasp the peach with the right gripper - subtask_index: 25 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 26 -- subtask: Place the coke on the dish with the right gripper - subtask_index: 27 -- subtask: Place the banana on the dish with the left gripper - subtask_index: 28 -- subtask: Place the peach on the dish with the right gripper - subtask_index: 29 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 30 -- subtask: Place the potato chips on the dish with the right gripper - subtask_index: 31 -- subtask: Grasp the peach with the left gripper - subtask_index: 32 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 33 -- subtask: Place the chocolate cake on the dish with the right gripper - subtask_index: 34 -- subtask: Place the plugboard on the dish with the left gripper - subtask_index: 35 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 36 -- subtask: Place the square chewing gum on the dish with the right gripper - subtask_index: 37 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 38 -- subtask: End - subtask_index: 39 -- subtask: Place the blackboard erasure on the dish with the left gripper - subtask_index: 40 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 41 -- subtask: Grasp the coke with the left gripper - subtask_index: 42 -- subtask: Place the tape on the dish with the right gripper - subtask_index: 43 -- subtask: Place the bread slice on the dish with the right gripper - subtask_index: 44 -- subtask: Place the shower sphere on the dish with the right gripper - subtask_index: 45 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 46 -- subtask: Grasp the compasses with the left gripper - subtask_index: 47 -- subtask: Place the banana on the dish with the right gripper - subtask_index: 48 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 49 -- subtask: Grasp the round bread with the right gripper - subtask_index: 50 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 51 -- subtask: Place the square chewing gum on the dish with the left gripper - subtask_index: 52 -- subtask: Place the blue cup on the dish with the right gripper - subtask_index: 53 -- subtask: Place the hard facial cleanser on the dish with the right gripper - subtask_index: 54 -- subtask: Place the blue cup on the dish with the left gripper - subtask_index: 55 -- subtask: Grasp the tape with the right gripper - subtask_index: 56 -- subtask: Place the duck toy on the dish with the left gripper - subtask_index: 57 -- subtask: Grasp the coke with the right gripper - subtask_index: 58 -- subtask: Place the square wooden block on the dish with the right gripper - subtask_index: 59 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 60 -- subtask: Place the round bread on the dish with the right gripper - subtask_index: 61 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 62 -- subtask: Place the brown towel on the dish with the left gripper - subtask_index: 63 -- subtask: Place the bread slice on the dish with the left gripper - subtask_index: 64 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 65 -- subtask: Grasp the yogurt with the left gripper - subtask_index: 66 -- subtask: Place the blue pot on the dish with the left gripper - subtask_index: 67 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 68 -- subtask: Place the coke on the dish with the left gripper - subtask_index: 69 -- subtask: Place the square wooden block on the dish with the left gripper - subtask_index: 70 -- subtask: Place the yogurt on the dish with the left gripper - subtask_index: 71 -- subtask: Place the chocolate cake on the dish with the left gripper - subtask_index: 72 -- subtask: Place the compasses on the dish with the left gripper - subtask_index: 73 -- subtask: Place the round wooden block on the dish with the left gripper - subtask_index: 74 -- subtask: Place the chocolate on the dish with the left gripper - subtask_index: 75 -- subtask: Grasp the round bread with the left gripper - subtask_index: 76 -- subtask: Grasp the chocolate with the left gripper - subtask_index: 77 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 78 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 79 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 80 -- subtask: Place the shower sphere on the dish with the left gripper - subtask_index: 81 -- subtask: Place the tin on the dish with the left gripper - subtask_index: 82 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 83 -- subtask: Place the hard facial cleanser on the dish with the left gripper - subtask_index: 84 -- subtask: Place the blackboard erasure on the dish with the right gripper - subtask_index: 85 -- subtask: Place the blue pot on the dish with the right gripper - subtask_index: 86 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 87 -- subtask: Grasp the banana with the right gripper - subtask_index: 88 -- subtask: 'null' - subtask_index: 89 +- Grasp the blue pot with the left gripper +- Place the back scratcher on the dish with the right gripper +- Grasp the plugboard with the left gripper +- Place the soft facial cleanser on the dish with the right gripper +- Grasp the potato chips with the right gripper +- Grasp the banana with the left gripper +- Grasp the compasses with the right gripper +- Grasp the duck toy with the left gripper +- Place the round bread on the dish with the left gripper +- Grasp the blue cup with the left gripper +- Place the compasses on the dish with the right gripper +- Place the duck toy on the dish with the right gripper +- Place the round wooden block on the dish with the right gripper +- Place the green lemon on the dish with the right gripper +- Grasp the back scratcher with the right gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Grasp the shower sphere with the left gripper +- Place the peach on the dish with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Place the brown towel on the dish with the right gripper +- Grasp the hard facial cleanser with the left gripper +- Place the plugboard on the dish with the right gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Place the coke on the dish with the right gripper +- Place the banana on the dish with the left gripper +- Place the peach on the dish with the right gripper +- Grasp the hard facial cleanser with the right gripper +- Place the potato chips on the dish with the right gripper +- Grasp the peach with the left gripper +- Grasp the green lemon with the right gripper +- Place the chocolate cake on the dish with the right gripper +- Place the plugboard on the dish with the left gripper +- Grasp the bread slice with the right gripper +- Place the square chewing gum on the dish with the right gripper +- Grasp the duck toy with the right gripper +- End +- Place the blackboard erasure on the dish with the left gripper +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Place the tape on the dish with the right gripper +- Place the bread slice on the dish with the right gripper +- Place the shower sphere on the dish with the right gripper +- Grasp the round wooden block with the left gripper +- Grasp the compasses with the left gripper +- Place the banana on the dish with the right gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the square chewing gum on the dish with the left gripper +- Place the blue cup on the dish with the right gripper +- Place the hard facial cleanser on the dish with the right gripper +- Place the blue cup on the dish with the left gripper +- Grasp the tape with the right gripper +- Place the duck toy on the dish with the left gripper +- Grasp the coke with the right gripper +- Place the square wooden block on the dish with the right gripper +- Grasp the square chewing gum with the right gripper +- Place the round bread on the dish with the right gripper +- Grasp the shower sphere with the right gripper +- Place the brown towel on the dish with the left gripper +- Place the bread slice on the dish with the left gripper +- Grasp the bread slice with the left gripper +- Grasp the yogurt with the left gripper +- Place the blue pot on the dish with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the coke on the dish with the left gripper +- Place the square wooden block on the dish with the left gripper +- Place the yogurt on the dish with the left gripper +- Place the chocolate cake on the dish with the left gripper +- Place the compasses on the dish with the left gripper +- Place the round wooden block on the dish with the left gripper +- Place the chocolate on the dish with the left gripper +- Grasp the round bread with the left gripper +- Grasp the chocolate with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Place the shower sphere on the dish with the left gripper +- Place the tin on the dish with the left gripper +- Grasp the square wooden block with the right gripper +- Place the hard facial cleanser on the dish with the left gripper +- Place the blackboard erasure on the dish with the right gripper +- Place the blue pot on the dish with the right gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -403,10 +312,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -414,7 +326,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 101 total_frames: 26346 fps: 30 @@ -501,9 +414,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_dish_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:100 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -771,7 +686,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -779,6 +694,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -805,6 +721,359 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_dish + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the dish. + sub_tasks: + - subtask: Grasp the blue pot with the left gripper + subtask_index: 0 + - subtask: Place the back scratcher on the dish with the right gripper + subtask_index: 1 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 2 + - subtask: Place the soft facial cleanser on the dish with the right gripper + subtask_index: 3 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 4 + - subtask: Grasp the banana with the left gripper + subtask_index: 5 + - subtask: Grasp the compasses with the right gripper + subtask_index: 6 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 7 + - subtask: Place the round bread on the dish with the left gripper + subtask_index: 8 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 9 + - subtask: Place the compasses on the dish with the right gripper + subtask_index: 10 + - subtask: Place the duck toy on the dish with the right gripper + subtask_index: 11 + - subtask: Place the round wooden block on the dish with the right gripper + subtask_index: 12 + - subtask: Place the green lemon on the dish with the right gripper + subtask_index: 13 + - subtask: Grasp the back scratcher with the right gripper + subtask_index: 14 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 15 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 16 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 17 + - subtask: Place the peach on the dish with the left gripper + subtask_index: 18 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 19 + - subtask: Grasp the tin with the left gripper + subtask_index: 20 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 21 + - subtask: Place the brown towel on the dish with the right gripper + subtask_index: 22 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 23 + - subtask: Place the plugboard on the dish with the right gripper + subtask_index: 24 + - subtask: Grasp the peach with the right gripper + subtask_index: 25 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 26 + - subtask: Place the coke on the dish with the right gripper + subtask_index: 27 + - subtask: Place the banana on the dish with the left gripper + subtask_index: 28 + - subtask: Place the peach on the dish with the right gripper + subtask_index: 29 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 30 + - subtask: Place the potato chips on the dish with the right gripper + subtask_index: 31 + - subtask: Grasp the peach with the left gripper + subtask_index: 32 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 33 + - subtask: Place the chocolate cake on the dish with the right gripper + subtask_index: 34 + - subtask: Place the plugboard on the dish with the left gripper + subtask_index: 35 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 36 + - subtask: Place the square chewing gum on the dish with the right gripper + subtask_index: 37 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 38 + - subtask: End + subtask_index: 39 + - subtask: Place the blackboard erasure on the dish with the left gripper + subtask_index: 40 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 41 + - subtask: Grasp the coke with the left gripper + subtask_index: 42 + - subtask: Place the tape on the dish with the right gripper + subtask_index: 43 + - subtask: Place the bread slice on the dish with the right gripper + subtask_index: 44 + - subtask: Place the shower sphere on the dish with the right gripper + subtask_index: 45 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 46 + - subtask: Grasp the compasses with the left gripper + subtask_index: 47 + - subtask: Place the banana on the dish with the right gripper + subtask_index: 48 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 49 + - subtask: Grasp the round bread with the right gripper + subtask_index: 50 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 51 + - subtask: Place the square chewing gum on the dish with the left gripper + subtask_index: 52 + - subtask: Place the blue cup on the dish with the right gripper + subtask_index: 53 + - subtask: Place the hard facial cleanser on the dish with the right gripper + subtask_index: 54 + - subtask: Place the blue cup on the dish with the left gripper + subtask_index: 55 + - subtask: Grasp the tape with the right gripper + subtask_index: 56 + - subtask: Place the duck toy on the dish with the left gripper + subtask_index: 57 + - subtask: Grasp the coke with the right gripper + subtask_index: 58 + - subtask: Place the square wooden block on the dish with the right gripper + subtask_index: 59 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 60 + - subtask: Place the round bread on the dish with the right gripper + subtask_index: 61 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 62 + - subtask: Place the brown towel on the dish with the left gripper + subtask_index: 63 + - subtask: Place the bread slice on the dish with the left gripper + subtask_index: 64 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 65 + - subtask: Grasp the yogurt with the left gripper + subtask_index: 66 + - subtask: Place the blue pot on the dish with the left gripper + subtask_index: 67 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 68 + - subtask: Place the coke on the dish with the left gripper + subtask_index: 69 + - subtask: Place the square wooden block on the dish with the left gripper + subtask_index: 70 + - subtask: Place the yogurt on the dish with the left gripper + subtask_index: 71 + - subtask: Place the chocolate cake on the dish with the left gripper + subtask_index: 72 + - subtask: Place the compasses on the dish with the left gripper + subtask_index: 73 + - subtask: Place the round wooden block on the dish with the left gripper + subtask_index: 74 + - subtask: Place the chocolate on the dish with the left gripper + subtask_index: 75 + - subtask: Grasp the round bread with the left gripper + subtask_index: 76 + - subtask: Grasp the chocolate with the left gripper + subtask_index: 77 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 78 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 79 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 80 + - subtask: Place the shower sphere on the dish with the left gripper + subtask_index: 81 + - subtask: Place the tin on the dish with the left gripper + subtask_index: 82 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 83 + - subtask: Place the hard facial cleanser on the dish with the left gripper + subtask_index: 84 + - subtask: Place the blackboard erasure on the dish with the right gripper + subtask_index: 85 + - subtask: Place the blue pot on the dish with the right gripper + subtask_index: 86 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 87 + - subtask: Grasp the banana with the right gripper + subtask_index: 88 + - subtask: 'null' + subtask_index: 89 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 26346 + dataset_size: 993.15 MB + data_structure: 'Galaxea_R1_Lite_storage_object_dish_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (89 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml index 1555e16a31adc1369e09c47386f64050d974fa62..ef15c94cfaa473960e1639bc8083701c859dc2aa 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: gray_plate level1: kitchen_supplies level2: gray_plate @@ -195,208 +195,115 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the gray plate. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the gray plate. sub_tasks: -- subtask: Place the tape on the gray plate with the left gripper - subtask_index: 0 -- subtask: Grasp the blue pot with the left gripper - subtask_index: 1 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 2 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 3 -- subtask: Grasp the banana with the left gripper - subtask_index: 4 -- subtask: Place the round wooden block on the gray plate with the left gripper - subtask_index: 5 -- subtask: Place the peach on the gray plate with the left gripper - subtask_index: 6 -- subtask: Grasp the compasses with the right gripper - subtask_index: 7 -- subtask: Place the square chewing gum on the gray plate with the right gripper - subtask_index: 8 -- subtask: Place the compasses on the gray plate with the right gripper - subtask_index: 9 -- subtask: Place the potato chips on the gray plate with the right gripper - subtask_index: 10 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 11 -- subtask: Place the green lemon on the gray plate with the right gripper - subtask_index: 12 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 13 -- subtask: Place the square wooden block on the gray plate with the left gripper - subtask_index: 14 -- subtask: Grasp the soft facial cleanser with the left gripper - subtask_index: 15 -- subtask: Place the blue cup on the gray plate with the left gripper - subtask_index: 16 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 17 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 18 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 19 -- subtask: Place the blackboard erasure on the gray plate with the right gripper - subtask_index: 20 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 21 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 22 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 23 -- subtask: Place the round bread on the gray plate with the right gripper - subtask_index: 24 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 25 -- subtask: Place the shower sphere on the gray plate with the left gripper - subtask_index: 26 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 27 -- subtask: Place the soft facial cleanser on the gray plate with the left gripper - subtask_index: 28 -- subtask: Grasp the peach with the right gripper - subtask_index: 29 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 30 -- subtask: Place the shower sphere on the gray plate with the right gripper - subtask_index: 31 -- subtask: Grasp the back scratcher with the left gripper - subtask_index: 32 -- subtask: Place the square wooden block on the gray plate with the right gripper - subtask_index: 33 -- subtask: Place the blackboard erasure on the gray plate with the left gripper - subtask_index: 34 -- subtask: Place the yogurt on the gray plate with the right gripper - subtask_index: 35 -- subtask: Grasp the peach with the left gripper - subtask_index: 36 -- subtask: Place the coke on the gray plate with the left gripper - subtask_index: 37 -- subtask: Place the chocolate cake on the gray plate with the right gripper - subtask_index: 38 -- subtask: Place the banana on the gray plate with the left gripper - subtask_index: 39 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 40 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 41 -- subtask: Place the bread slice on the gray plate with the right gripper - subtask_index: 42 -- subtask: Place the brown towel on the gray plate with the right gripper - subtask_index: 43 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 44 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 45 -- subtask: End - subtask_index: 46 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 47 -- subtask: Grasp the coke with the left gripper - subtask_index: 48 -- subtask: Place the plugboard on the gray plate with the right gripper - subtask_index: 49 -- subtask: Place the round bread on the gray plate with the left gripper - subtask_index: 50 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 51 -- subtask: Grasp the compasses with the left gripper - subtask_index: 52 -- subtask: Place the round wooden block on the gray plate with the right gripper - subtask_index: 53 -- subtask: Place the blue pot on the gray plate with the left gripper - subtask_index: 54 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 55 -- subtask: Grasp the round bread with the right gripper - subtask_index: 56 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 57 -- subtask: Place the brown towel on the gray plate with the left gripper - subtask_index: 58 -- subtask: Place the blue pot on the gray plate with the right gripper - subtask_index: 59 -- subtask: Place the compasses on the gray plate with the left gripper - subtask_index: 60 -- subtask: Place the coke on the gray plate with the right gripper - subtask_index: 61 -- subtask: Grasp the tin with the right gripper - subtask_index: 62 -- subtask: Place the square chewing gum on the gray plate with the left gripper - subtask_index: 63 -- subtask: Place the back scratcher on the gray plate with the left gripper - subtask_index: 64 -- subtask: Grasp the tape with the right gripper - subtask_index: 65 -- subtask: Place the tin on the gray plate with the right gripper - subtask_index: 66 -- subtask: Grasp the coke with the right gripper - subtask_index: 67 -- subtask: Grasp the tape with the left gripper - subtask_index: 68 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 69 -- subtask: Place the tape on the gray plate with the right gripper - subtask_index: 70 -- subtask: Place the hard facial cleanser on the gray plate with the left gripper - subtask_index: 71 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 72 -- subtask: Place the duck toy on the gray plate with the right gripper - subtask_index: 73 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 74 -- subtask: Place the chocolate on the gray plate with the right gripper - subtask_index: 75 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 76 -- subtask: Place the banana on the gray plate with the right gripper - subtask_index: 77 -- subtask: Place the peach on the gray plate with the right gripper - subtask_index: 78 -- subtask: Grasp the round bread with the left gripper - subtask_index: 79 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 80 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 81 -- subtask: Place the chocolate cake on the gray plate with the left gripper - subtask_index: 82 -- subtask: Place the duck toy on the gray plate with the left gripper - subtask_index: 83 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 84 -- subtask: Place the plugboard on the gray plate with the left gripper - subtask_index: 85 -- subtask: Place the bread slice on the gray plate with the left gripper - subtask_index: 86 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 87 -- subtask: Place the potato chips on the gray plate with the left gripper - subtask_index: 88 -- subtask: Grasp the banana with the right gripper - subtask_index: 89 -- subtask: Place the blue cup on the gray plate with the right gripper - subtask_index: 90 -- subtask: 'null' - subtask_index: 91 +- Place the tape on the gray plate with the left gripper +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Grasp the potato chips with the right gripper +- Grasp the banana with the left gripper +- Place the round wooden block on the gray plate with the left gripper +- Place the peach on the gray plate with the left gripper +- Grasp the compasses with the right gripper +- Place the square chewing gum on the gray plate with the right gripper +- Place the compasses on the gray plate with the right gripper +- Place the potato chips on the gray plate with the right gripper +- Grasp the duck toy with the left gripper +- Place the green lemon on the gray plate with the right gripper +- Grasp the blue cup with the left gripper +- Place the square wooden block on the gray plate with the left gripper +- Grasp the soft facial cleanser with the left gripper +- Place the blue cup on the gray plate with the left gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Grasp the shower sphere with the left gripper +- Place the blackboard erasure on the gray plate with the right gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Grasp the brown towel with the left gripper +- Place the round bread on the gray plate with the right gripper +- Grasp the hard facial cleanser with the left gripper +- Place the shower sphere on the gray plate with the left gripper +- Grasp the chocolate with the right gripper +- Place the soft facial cleanser on the gray plate with the left gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Place the shower sphere on the gray plate with the right gripper +- Grasp the back scratcher with the left gripper +- Place the square wooden block on the gray plate with the right gripper +- Place the blackboard erasure on the gray plate with the left gripper +- Place the yogurt on the gray plate with the right gripper +- Grasp the peach with the left gripper +- Place the coke on the gray plate with the left gripper +- Place the chocolate cake on the gray plate with the right gripper +- Place the banana on the gray plate with the left gripper +- Grasp the green lemon with the right gripper +- Grasp the bread slice with the right gripper +- Place the bread slice on the gray plate with the right gripper +- Place the brown towel on the gray plate with the right gripper +- Grasp the potato chips with the left gripper +- Grasp the duck toy with the right gripper +- End +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Place the plugboard on the gray plate with the right gripper +- Place the round bread on the gray plate with the left gripper +- Grasp the round wooden block with the left gripper +- Grasp the compasses with the left gripper +- Place the round wooden block on the gray plate with the right gripper +- Place the blue pot on the gray plate with the left gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the brown towel on the gray plate with the left gripper +- Place the blue pot on the gray plate with the right gripper +- Place the compasses on the gray plate with the left gripper +- Place the coke on the gray plate with the right gripper +- Grasp the tin with the right gripper +- Place the square chewing gum on the gray plate with the left gripper +- Place the back scratcher on the gray plate with the left gripper +- Grasp the tape with the right gripper +- Place the tin on the gray plate with the right gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Grasp the square chewing gum with the right gripper +- Place the tape on the gray plate with the right gripper +- Place the hard facial cleanser on the gray plate with the left gripper +- Grasp the shower sphere with the right gripper +- Place the duck toy on the gray plate with the right gripper +- Grasp the bread slice with the left gripper +- Place the chocolate on the gray plate with the right gripper +- Grasp the blackboard erasure with the right gripper +- Place the banana on the gray plate with the right gripper +- Place the peach on the gray plate with the right gripper +- Grasp the round bread with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Place the chocolate cake on the gray plate with the left gripper +- Place the duck toy on the gray plate with the left gripper +- Grasp the square wooden block with the right gripper +- Place the plugboard on the gray plate with the left gripper +- Place the bread slice on the gray plate with the left gripper +- Grasp the round wooden block with the right gripper +- Place the potato chips on the gray plate with the left gripper +- Grasp the banana with the right gripper +- Place the blue cup on the gray plate with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -407,10 +314,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -418,7 +328,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 20357 fps: 30 @@ -505,9 +416,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_gray_plate_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -775,7 +688,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -783,6 +696,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -809,6 +723,363 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_gray_plate + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the gray plate. + sub_tasks: + - subtask: Place the tape on the gray plate with the left gripper + subtask_index: 0 + - subtask: Grasp the blue pot with the left gripper + subtask_index: 1 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 2 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 3 + - subtask: Grasp the banana with the left gripper + subtask_index: 4 + - subtask: Place the round wooden block on the gray plate with the left gripper + subtask_index: 5 + - subtask: Place the peach on the gray plate with the left gripper + subtask_index: 6 + - subtask: Grasp the compasses with the right gripper + subtask_index: 7 + - subtask: Place the square chewing gum on the gray plate with the right gripper + subtask_index: 8 + - subtask: Place the compasses on the gray plate with the right gripper + subtask_index: 9 + - subtask: Place the potato chips on the gray plate with the right gripper + subtask_index: 10 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 11 + - subtask: Place the green lemon on the gray plate with the right gripper + subtask_index: 12 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 13 + - subtask: Place the square wooden block on the gray plate with the left gripper + subtask_index: 14 + - subtask: Grasp the soft facial cleanser with the left gripper + subtask_index: 15 + - subtask: Place the blue cup on the gray plate with the left gripper + subtask_index: 16 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 17 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 18 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 19 + - subtask: Place the blackboard erasure on the gray plate with the right gripper + subtask_index: 20 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 21 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 22 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 23 + - subtask: Place the round bread on the gray plate with the right gripper + subtask_index: 24 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 25 + - subtask: Place the shower sphere on the gray plate with the left gripper + subtask_index: 26 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 27 + - subtask: Place the soft facial cleanser on the gray plate with the left gripper + subtask_index: 28 + - subtask: Grasp the peach with the right gripper + subtask_index: 29 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 30 + - subtask: Place the shower sphere on the gray plate with the right gripper + subtask_index: 31 + - subtask: Grasp the back scratcher with the left gripper + subtask_index: 32 + - subtask: Place the square wooden block on the gray plate with the right gripper + subtask_index: 33 + - subtask: Place the blackboard erasure on the gray plate with the left gripper + subtask_index: 34 + - subtask: Place the yogurt on the gray plate with the right gripper + subtask_index: 35 + - subtask: Grasp the peach with the left gripper + subtask_index: 36 + - subtask: Place the coke on the gray plate with the left gripper + subtask_index: 37 + - subtask: Place the chocolate cake on the gray plate with the right gripper + subtask_index: 38 + - subtask: Place the banana on the gray plate with the left gripper + subtask_index: 39 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 40 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 41 + - subtask: Place the bread slice on the gray plate with the right gripper + subtask_index: 42 + - subtask: Place the brown towel on the gray plate with the right gripper + subtask_index: 43 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 44 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 45 + - subtask: End + subtask_index: 46 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 47 + - subtask: Grasp the coke with the left gripper + subtask_index: 48 + - subtask: Place the plugboard on the gray plate with the right gripper + subtask_index: 49 + - subtask: Place the round bread on the gray plate with the left gripper + subtask_index: 50 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 51 + - subtask: Grasp the compasses with the left gripper + subtask_index: 52 + - subtask: Place the round wooden block on the gray plate with the right gripper + subtask_index: 53 + - subtask: Place the blue pot on the gray plate with the left gripper + subtask_index: 54 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 55 + - subtask: Grasp the round bread with the right gripper + subtask_index: 56 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 57 + - subtask: Place the brown towel on the gray plate with the left gripper + subtask_index: 58 + - subtask: Place the blue pot on the gray plate with the right gripper + subtask_index: 59 + - subtask: Place the compasses on the gray plate with the left gripper + subtask_index: 60 + - subtask: Place the coke on the gray plate with the right gripper + subtask_index: 61 + - subtask: Grasp the tin with the right gripper + subtask_index: 62 + - subtask: Place the square chewing gum on the gray plate with the left gripper + subtask_index: 63 + - subtask: Place the back scratcher on the gray plate with the left gripper + subtask_index: 64 + - subtask: Grasp the tape with the right gripper + subtask_index: 65 + - subtask: Place the tin on the gray plate with the right gripper + subtask_index: 66 + - subtask: Grasp the coke with the right gripper + subtask_index: 67 + - subtask: Grasp the tape with the left gripper + subtask_index: 68 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 69 + - subtask: Place the tape on the gray plate with the right gripper + subtask_index: 70 + - subtask: Place the hard facial cleanser on the gray plate with the left gripper + subtask_index: 71 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 72 + - subtask: Place the duck toy on the gray plate with the right gripper + subtask_index: 73 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 74 + - subtask: Place the chocolate on the gray plate with the right gripper + subtask_index: 75 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 76 + - subtask: Place the banana on the gray plate with the right gripper + subtask_index: 77 + - subtask: Place the peach on the gray plate with the right gripper + subtask_index: 78 + - subtask: Grasp the round bread with the left gripper + subtask_index: 79 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 80 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 81 + - subtask: Place the chocolate cake on the gray plate with the left gripper + subtask_index: 82 + - subtask: Place the duck toy on the gray plate with the left gripper + subtask_index: 83 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 84 + - subtask: Place the plugboard on the gray plate with the left gripper + subtask_index: 85 + - subtask: Place the bread slice on the gray plate with the left gripper + subtask_index: 86 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 87 + - subtask: Place the potato chips on the gray plate with the left gripper + subtask_index: 88 + - subtask: Grasp the banana with the right gripper + subtask_index: 89 + - subtask: Place the blue cup on the gray plate with the right gripper + subtask_index: 90 + - subtask: 'null' + subtask_index: 91 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 20357 + dataset_size: 786.26 MB + data_structure: 'Galaxea_R1_Lite_storage_object_gray_plate_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml index d6fe6b7e3b2ebdc491f6ff69f805d65d277ff9a6..2ab9c05ffc4f02f1ece1d535f9b92370872552dc 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_pink_bowl.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: pink_bowl level1: plastic_bowl level2: pink_bowl @@ -195,204 +195,113 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the pink bowl. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the pink bowl. sub_tasks: -- subtask: Place the bread slice on the pink bowl with the left gripper - subtask_index: 0 -- subtask: Place the round wooden block on the pink bowl with the left gripper - subtask_index: 1 -- subtask: Grasp the blue pot with the left gripper - subtask_index: 2 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 3 -- subtask: Place the chocolate on the pink bowl with the right gripper - subtask_index: 4 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 5 -- subtask: Place the bread slice on the pink bowl with the right gripper - subtask_index: 6 -- subtask: Grasp the banana with the left gripper - subtask_index: 7 -- subtask: Place the round bread on the pink bowl with the right gripper - subtask_index: 8 -- subtask: Grasp the compasses with the right gripper - subtask_index: 9 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 10 -- subtask: Place the banana on the pink bowl with the left gripper - subtask_index: 11 -- subtask: Place the hard facial cleanser on the pink bowl with the right gripper - subtask_index: 12 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 13 -- subtask: Place the brown towel on the pink bowl with the right gripper - subtask_index: 14 -- subtask: Place the duck toy on the pink bowl with the right gripper - subtask_index: 15 -- subtask: Place the coke on the pink bowl with the right gripper - subtask_index: 16 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 17 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 18 -- subtask: Place the banana on the pink bowl with the right gripper - subtask_index: 19 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 20 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 21 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 22 -- subtask: Grasp the tin with the left gripper - subtask_index: 23 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 24 -- subtask: Place the peach on the pink bowl with the left gripper - subtask_index: 25 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 26 -- subtask: Place the tape on the pink bowl with the right gripper - subtask_index: 27 -- subtask: Grasp the peach with the right gripper - subtask_index: 28 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 29 -- subtask: Grasp the back scratcher with the left gripper - subtask_index: 30 -- subtask: Place the round wooden block on the pink bowl with the right gripper - subtask_index: 31 -- subtask: Place the tape on the pink bowl with the left gripper - subtask_index: 32 -- subtask: Place the duck toy on the pink bowl with the left gripper - subtask_index: 33 -- subtask: Place the shower sphere on the pink bowl with the left gripper - subtask_index: 34 -- subtask: Place the blue cup on the pink bowl with the left gripper - subtask_index: 35 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 36 -- subtask: Place the blue pot on the pink bowl with the left gripper - subtask_index: 37 -- subtask: Place the coke on the pink bowl with the left gripper - subtask_index: 38 -- subtask: Place the blue cup on the pink bowl with the right gripper - subtask_index: 39 -- subtask: Grasp the peach with the left gripper - subtask_index: 40 -- subtask: Place the potato chips on the pink bowl with the right gripper - subtask_index: 41 -- subtask: Place the square chewing gum on the pink bowl with the left gripper - subtask_index: 42 -- subtask: Place the square wooden block on the pink bowl with the right gripper - subtask_index: 43 -- subtask: Place the blackboard erasure on the pink bowl with the left gripper - subtask_index: 44 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 45 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 46 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 47 -- subtask: End - subtask_index: 48 -- subtask: Place the compasses on the pink bowl with the left gripper - subtask_index: 49 -- subtask: Place the blue pot on the pink bowl with the right gripper - subtask_index: 50 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 51 -- subtask: Grasp the coke with the left gripper - subtask_index: 52 -- subtask: Place the chocolate cake on the pink bowl with the right gripper - subtask_index: 53 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 54 -- subtask: Place the blackboard erasure on the pink bowl with the right gripper - subtask_index: 55 -- subtask: Grasp the compasses with the left gripper - subtask_index: 56 -- subtask: Place the peach on the pink bowl with the right gripper - subtask_index: 57 -- subtask: Place the soft facial cleanser on the pink bowl with the right gripper - subtask_index: 58 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 59 -- subtask: Grasp the round bread with the right gripper - subtask_index: 60 -- subtask: Place the plugboard on the pink bowl with the left gripper - subtask_index: 61 -- subtask: Grasp the tin with the right gripper - subtask_index: 62 -- subtask: Place the square chewing gum on the pink bowl with the right gripper - subtask_index: 63 -- subtask: Place the compasses on the pink bowl with the right gripper - subtask_index: 64 -- subtask: Grasp the tape with the right gripper - subtask_index: 65 -- subtask: Place the shower sphere on the pink bowl with the right gripper - subtask_index: 66 -- subtask: Grasp the coke with the right gripper - subtask_index: 67 -- subtask: Grasp the tape with the left gripper - subtask_index: 68 -- subtask: Place the tin on the pink bowl with the right gripper - subtask_index: 69 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 70 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 71 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 72 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 73 -- subtask: Place the brown towel on the pink bowl with the left gripper - subtask_index: 74 -- subtask: Place the square wooden block on the pink bowl with the left gripper - subtask_index: 75 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 76 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 77 -- subtask: Place the back scratcher on the pink bowl with the left gripper - subtask_index: 78 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 79 -- subtask: Place the green lemon on the pink bowl with the left gripper - subtask_index: 80 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 81 -- subtask: Grasp the green lemon with the left gripper - subtask_index: 82 -- subtask: Place the tin on the pink bowl with the left gripper - subtask_index: 83 -- subtask: Place the yogurt on the pink bowl with the right gripper - subtask_index: 84 -- subtask: Place the potato chips on the pink bowl with the left gripper - subtask_index: 85 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 86 -- subtask: Grasp the banana with the right gripper - subtask_index: 87 -- subtask: Place the plugboard on the pink bowl with the right gripper - subtask_index: 88 -- subtask: 'null' - subtask_index: 89 +- Place the bread slice on the pink bowl with the left gripper +- Place the round wooden block on the pink bowl with the left gripper +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Place the chocolate on the pink bowl with the right gripper +- Grasp the potato chips with the right gripper +- Place the bread slice on the pink bowl with the right gripper +- Grasp the banana with the left gripper +- Place the round bread on the pink bowl with the right gripper +- Grasp the compasses with the right gripper +- Grasp the duck toy with the left gripper +- Place the banana on the pink bowl with the left gripper +- Place the hard facial cleanser on the pink bowl with the right gripper +- Grasp the blue cup with the left gripper +- Place the brown towel on the pink bowl with the right gripper +- Place the duck toy on the pink bowl with the right gripper +- Place the coke on the pink bowl with the right gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Place the banana on the pink bowl with the right gripper +- Grasp the shower sphere with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Place the peach on the pink bowl with the left gripper +- Grasp the chocolate with the right gripper +- Place the tape on the pink bowl with the right gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Grasp the back scratcher with the left gripper +- Place the round wooden block on the pink bowl with the right gripper +- Place the tape on the pink bowl with the left gripper +- Place the duck toy on the pink bowl with the left gripper +- Place the shower sphere on the pink bowl with the left gripper +- Place the blue cup on the pink bowl with the left gripper +- Grasp the hard facial cleanser with the right gripper +- Place the blue pot on the pink bowl with the left gripper +- Place the coke on the pink bowl with the left gripper +- Place the blue cup on the pink bowl with the right gripper +- Grasp the peach with the left gripper +- Place the potato chips on the pink bowl with the right gripper +- Place the square chewing gum on the pink bowl with the left gripper +- Place the square wooden block on the pink bowl with the right gripper +- Place the blackboard erasure on the pink bowl with the left gripper +- Grasp the bread slice with the right gripper +- Grasp the potato chips with the left gripper +- Grasp the duck toy with the right gripper +- End +- Place the compasses on the pink bowl with the left gripper +- Place the blue pot on the pink bowl with the right gripper +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Place the chocolate cake on the pink bowl with the right gripper +- Grasp the round wooden block with the left gripper +- Place the blackboard erasure on the pink bowl with the right gripper +- Grasp the compasses with the left gripper +- Place the peach on the pink bowl with the right gripper +- Place the soft facial cleanser on the pink bowl with the right gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Place the plugboard on the pink bowl with the left gripper +- Grasp the tin with the right gripper +- Place the square chewing gum on the pink bowl with the right gripper +- Place the compasses on the pink bowl with the right gripper +- Grasp the tape with the right gripper +- Place the shower sphere on the pink bowl with the right gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Place the tin on the pink bowl with the right gripper +- Grasp the square chewing gum with the right gripper +- Grasp the shower sphere with the right gripper +- Grasp the bread slice with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the brown towel on the pink bowl with the left gripper +- Place the square wooden block on the pink bowl with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Place the back scratcher on the pink bowl with the left gripper +- Grasp the soft facial cleanser with the right gripper +- Place the green lemon on the pink bowl with the left gripper +- Grasp the square wooden block with the right gripper +- Grasp the green lemon with the left gripper +- Place the tin on the pink bowl with the left gripper +- Place the yogurt on the pink bowl with the right gripper +- Place the potato chips on the pink bowl with the left gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- Place the plugboard on the pink bowl with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -403,10 +312,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -414,7 +326,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 20095 fps: 30 @@ -501,9 +414,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_pink_bowl_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -771,7 +686,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -779,6 +694,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -805,6 +721,359 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_pink_bowl + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the pink bowl. + sub_tasks: + - subtask: Place the bread slice on the pink bowl with the left gripper + subtask_index: 0 + - subtask: Place the round wooden block on the pink bowl with the left gripper + subtask_index: 1 + - subtask: Grasp the blue pot with the left gripper + subtask_index: 2 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 3 + - subtask: Place the chocolate on the pink bowl with the right gripper + subtask_index: 4 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 5 + - subtask: Place the bread slice on the pink bowl with the right gripper + subtask_index: 6 + - subtask: Grasp the banana with the left gripper + subtask_index: 7 + - subtask: Place the round bread on the pink bowl with the right gripper + subtask_index: 8 + - subtask: Grasp the compasses with the right gripper + subtask_index: 9 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 10 + - subtask: Place the banana on the pink bowl with the left gripper + subtask_index: 11 + - subtask: Place the hard facial cleanser on the pink bowl with the right gripper + subtask_index: 12 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 13 + - subtask: Place the brown towel on the pink bowl with the right gripper + subtask_index: 14 + - subtask: Place the duck toy on the pink bowl with the right gripper + subtask_index: 15 + - subtask: Place the coke on the pink bowl with the right gripper + subtask_index: 16 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 17 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 18 + - subtask: Place the banana on the pink bowl with the right gripper + subtask_index: 19 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 20 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 21 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 22 + - subtask: Grasp the tin with the left gripper + subtask_index: 23 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 24 + - subtask: Place the peach on the pink bowl with the left gripper + subtask_index: 25 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 26 + - subtask: Place the tape on the pink bowl with the right gripper + subtask_index: 27 + - subtask: Grasp the peach with the right gripper + subtask_index: 28 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 29 + - subtask: Grasp the back scratcher with the left gripper + subtask_index: 30 + - subtask: Place the round wooden block on the pink bowl with the right gripper + subtask_index: 31 + - subtask: Place the tape on the pink bowl with the left gripper + subtask_index: 32 + - subtask: Place the duck toy on the pink bowl with the left gripper + subtask_index: 33 + - subtask: Place the shower sphere on the pink bowl with the left gripper + subtask_index: 34 + - subtask: Place the blue cup on the pink bowl with the left gripper + subtask_index: 35 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 36 + - subtask: Place the blue pot on the pink bowl with the left gripper + subtask_index: 37 + - subtask: Place the coke on the pink bowl with the left gripper + subtask_index: 38 + - subtask: Place the blue cup on the pink bowl with the right gripper + subtask_index: 39 + - subtask: Grasp the peach with the left gripper + subtask_index: 40 + - subtask: Place the potato chips on the pink bowl with the right gripper + subtask_index: 41 + - subtask: Place the square chewing gum on the pink bowl with the left gripper + subtask_index: 42 + - subtask: Place the square wooden block on the pink bowl with the right gripper + subtask_index: 43 + - subtask: Place the blackboard erasure on the pink bowl with the left gripper + subtask_index: 44 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 45 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 46 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 47 + - subtask: End + subtask_index: 48 + - subtask: Place the compasses on the pink bowl with the left gripper + subtask_index: 49 + - subtask: Place the blue pot on the pink bowl with the right gripper + subtask_index: 50 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 51 + - subtask: Grasp the coke with the left gripper + subtask_index: 52 + - subtask: Place the chocolate cake on the pink bowl with the right gripper + subtask_index: 53 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 54 + - subtask: Place the blackboard erasure on the pink bowl with the right gripper + subtask_index: 55 + - subtask: Grasp the compasses with the left gripper + subtask_index: 56 + - subtask: Place the peach on the pink bowl with the right gripper + subtask_index: 57 + - subtask: Place the soft facial cleanser on the pink bowl with the right gripper + subtask_index: 58 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 59 + - subtask: Grasp the round bread with the right gripper + subtask_index: 60 + - subtask: Place the plugboard on the pink bowl with the left gripper + subtask_index: 61 + - subtask: Grasp the tin with the right gripper + subtask_index: 62 + - subtask: Place the square chewing gum on the pink bowl with the right gripper + subtask_index: 63 + - subtask: Place the compasses on the pink bowl with the right gripper + subtask_index: 64 + - subtask: Grasp the tape with the right gripper + subtask_index: 65 + - subtask: Place the shower sphere on the pink bowl with the right gripper + subtask_index: 66 + - subtask: Grasp the coke with the right gripper + subtask_index: 67 + - subtask: Grasp the tape with the left gripper + subtask_index: 68 + - subtask: Place the tin on the pink bowl with the right gripper + subtask_index: 69 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 70 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 71 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 72 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 73 + - subtask: Place the brown towel on the pink bowl with the left gripper + subtask_index: 74 + - subtask: Place the square wooden block on the pink bowl with the left gripper + subtask_index: 75 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 76 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 77 + - subtask: Place the back scratcher on the pink bowl with the left gripper + subtask_index: 78 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 79 + - subtask: Place the green lemon on the pink bowl with the left gripper + subtask_index: 80 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 81 + - subtask: Grasp the green lemon with the left gripper + subtask_index: 82 + - subtask: Place the tin on the pink bowl with the left gripper + subtask_index: 83 + - subtask: Place the yogurt on the pink bowl with the right gripper + subtask_index: 84 + - subtask: Place the potato chips on the pink bowl with the left gripper + subtask_index: 85 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 86 + - subtask: Grasp the banana with the right gripper + subtask_index: 87 + - subtask: Place the plugboard on the pink bowl with the right gripper + subtask_index: 88 + - subtask: 'null' + subtask_index: 89 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 20095 + dataset_size: 752.15 MB + data_structure: 'Galaxea_R1_Lite_storage_object_pink_bowl_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml index 06dd96ec8fefb139d7bd4fec3efd890328d8752c..5d559b3942883d7aeb33cfd6027a60156589c9e0 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_white_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: white_box level1: storage_box level2: white_box @@ -195,208 +195,115 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the white box. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the white box. sub_tasks: -- subtask: Place the tin on the white box with the left gripper - subtask_index: 0 -- subtask: Grasp the blue pot with the left gripper - subtask_index: 1 -- subtask: Place the square wooden block on the white box with the right gripper - subtask_index: 2 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 3 -- subtask: Place the brown towel on the white box with the left gripper - subtask_index: 4 -- subtask: Place the peach on the white box with the left gripper - subtask_index: 5 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 6 -- subtask: Place the blackboard erasure on the white box with the right gripper - subtask_index: 7 -- subtask: Grasp the banana with the left gripper - subtask_index: 8 -- subtask: Place the round bread on the white box with the right gripper - subtask_index: 9 -- subtask: Grasp the compasses with the right gripper - subtask_index: 10 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 11 -- subtask: Place the bread slice on the white box with the right gripper - subtask_index: 12 -- subtask: Place the blackboard erasure on the white box with the left gripper - subtask_index: 13 -- subtask: Place the bread slice on the white box with the left gripper - subtask_index: 14 -- subtask: Place the coke on the white box with the right gripper - subtask_index: 15 -- subtask: Place the blue cup on the white box with the left gripper - subtask_index: 16 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 17 -- subtask: Place the coke on the white box with the left gripper - subtask_index: 18 -- subtask: Place the square wooden block on the white box with the left gripper - subtask_index: 19 -- subtask: Place the blue cup on the white box with the right gripper - subtask_index: 20 -- subtask: Place the duck toy on the white box with the left gripper - subtask_index: 21 -- subtask: Grasp the back scratcher with the right gripper - subtask_index: 22 -- subtask: Place the blue pot on the white box with the right gripper - subtask_index: 23 -- subtask: Grasp the square chewing gum with the left gripper - subtask_index: 24 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 25 -- subtask: Place the round wooden block on the white box with the right gripper - subtask_index: 26 -- subtask: Place the square chewing gum on the white box with the right gripper - subtask_index: 27 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 28 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 29 -- subtask: Grasp the yogurt with the right gripper - subtask_index: 30 -- subtask: Grasp the tin with the left gripper - subtask_index: 31 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 32 -- subtask: Place the back scratcher into the basket with the right gripper - subtask_index: 33 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 34 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 35 -- subtask: Place the banana on the white box with the right gripper - subtask_index: 36 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 37 -- subtask: Place the shower sphere on the white box with the right gripper - subtask_index: 38 -- subtask: Place the green lemon into the basket with the right gripper - subtask_index: 39 -- subtask: Place the compasses on the white box with the right gripper - subtask_index: 40 -- subtask: Place the banana on the white box with the left gripper - subtask_index: 41 -- subtask: Grasp the peach with the left gripper - subtask_index: 42 -- subtask: Place the round wooden block on the white box with the left gripper - subtask_index: 43 -- subtask: Place the tin on the white box with the right gripper - subtask_index: 44 -- subtask: Place the potato chips on the white box with the right gripper - subtask_index: 45 -- subtask: Place the tape on the white box with the left gripper - subtask_index: 46 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 47 -- subtask: Place the blue pot on the white box with the left gripper - subtask_index: 48 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 49 -- subtask: Place the chocolate cake on the white box with the right gripper - subtask_index: 50 -- subtask: Place the compasses on the white box with the left gripper - subtask_index: 51 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 52 -- subtask: Place the soft facial cleanser on the white box with the right gripper - subtask_index: 53 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 54 -- subtask: End - subtask_index: 55 -- subtask: Place the hard facial cleanser on the white box with the left gripper - subtask_index: 56 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 57 -- subtask: Grasp the coke with the left gripper - subtask_index: 58 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 59 -- subtask: Place the square chewing gum on the white box with the left gripper - subtask_index: 60 -- subtask: Place the tape on the white box with the right gripper - subtask_index: 61 -- subtask: Place the shower sphere on the white box with the left gripper - subtask_index: 62 -- subtask: Grasp the compasses with the left gripper - subtask_index: 63 -- subtask: Place the brown towel on the white box with the right gripper - subtask_index: 64 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 65 -- subtask: Grasp the round bread with the right gripper - subtask_index: 66 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 67 -- subtask: Place the duck toy on the white box with the right gripper - subtask_index: 68 -- subtask: Place the chocolate on the white box with the right gripper - subtask_index: 69 -- subtask: Grasp the tin with the right gripper - subtask_index: 70 -- subtask: Place the chocolate cake on the white box with the left gripper - subtask_index: 71 -- subtask: Place the plugboard on the white box with the right gripper - subtask_index: 72 -- subtask: Grasp the tape with the right gripper - subtask_index: 73 -- subtask: Grasp the coke with the right gripper - subtask_index: 74 -- subtask: Grasp the tape with the left gripper - subtask_index: 75 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 76 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 77 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 78 -- subtask: Place the potato chips on the white box with the left gripper - subtask_index: 79 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 80 -- subtask: Place the round bread on the white box with the left gripper - subtask_index: 81 -- subtask: Grasp the round bread with the left gripper - subtask_index: 82 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 83 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 84 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 85 -- subtask: Place the yogurt on the white box with the right gripper - subtask_index: 86 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 87 -- subtask: Place the plugboard on the white box with the left gripper - subtask_index: 88 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 89 -- subtask: Grasp the banana with the right gripper - subtask_index: 90 -- subtask: 'null' - subtask_index: 91 +- Place the tin on the white box with the left gripper +- Grasp the blue pot with the left gripper +- Place the square wooden block on the white box with the right gripper +- Grasp the plugboard with the left gripper +- Place the brown towel on the white box with the left gripper +- Place the peach on the white box with the left gripper +- Grasp the potato chips with the right gripper +- Place the blackboard erasure on the white box with the right gripper +- Grasp the banana with the left gripper +- Place the round bread on the white box with the right gripper +- Grasp the compasses with the right gripper +- Grasp the duck toy with the left gripper +- Place the bread slice on the white box with the right gripper +- Place the blackboard erasure on the white box with the left gripper +- Place the bread slice on the white box with the left gripper +- Place the coke on the white box with the right gripper +- Place the blue cup on the white box with the left gripper +- Grasp the blue cup with the left gripper +- Place the coke on the white box with the left gripper +- Place the square wooden block on the white box with the left gripper +- Place the blue cup on the white box with the right gripper +- Place the duck toy on the white box with the left gripper +- Grasp the back scratcher with the right gripper +- Place the blue pot on the white box with the right gripper +- Grasp the square chewing gum with the left gripper +- Grasp the chocolate cake with the right gripper +- Place the round wooden block on the white box with the right gripper +- Place the square chewing gum on the white box with the right gripper +- Grasp the shower sphere with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the yogurt with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Place the back scratcher into the basket with the right gripper +- Grasp the hard facial cleanser with the left gripper +- Grasp the chocolate with the right gripper +- Place the banana on the white box with the right gripper +- Grasp the brown towel with the right gripper +- Place the shower sphere on the white box with the right gripper +- Place the green lemon into the basket with the right gripper +- Place the compasses on the white box with the right gripper +- Place the banana on the white box with the left gripper +- Grasp the peach with the left gripper +- Place the round wooden block on the white box with the left gripper +- Place the tin on the white box with the right gripper +- Place the potato chips on the white box with the right gripper +- Place the tape on the white box with the left gripper +- Grasp the green lemon with the right gripper +- Place the blue pot on the white box with the left gripper +- Grasp the bread slice with the right gripper +- Place the chocolate cake on the white box with the right gripper +- Place the compasses on the white box with the left gripper +- Grasp the potato chips with the left gripper +- Place the soft facial cleanser on the white box with the right gripper +- Grasp the duck toy with the right gripper +- End +- Place the hard facial cleanser on the white box with the left gripper +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Grasp the round wooden block with the left gripper +- Place the square chewing gum on the white box with the left gripper +- Place the tape on the white box with the right gripper +- Place the shower sphere on the white box with the left gripper +- Grasp the compasses with the left gripper +- Place the brown towel on the white box with the right gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the duck toy on the white box with the right gripper +- Place the chocolate on the white box with the right gripper +- Grasp the tin with the right gripper +- Place the chocolate cake on the white box with the left gripper +- Place the plugboard on the white box with the right gripper +- Grasp the tape with the right gripper +- Grasp the coke with the right gripper +- Grasp the tape with the left gripper +- Grasp the square chewing gum with the right gripper +- Grasp the shower sphere with the right gripper +- Grasp the bread slice with the left gripper +- Place the potato chips on the white box with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the round bread on the white box with the left gripper +- Grasp the round bread with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Place the yogurt on the white box with the right gripper +- Grasp the square wooden block with the right gripper +- Place the plugboard on the white box with the left gripper +- Grasp the round wooden block with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -407,10 +314,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -418,7 +328,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 27154 fps: 30 @@ -505,9 +416,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_white_box_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -775,7 +688,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -783,6 +696,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -809,6 +723,363 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_white_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the white box. + sub_tasks: + - subtask: Place the tin on the white box with the left gripper + subtask_index: 0 + - subtask: Grasp the blue pot with the left gripper + subtask_index: 1 + - subtask: Place the square wooden block on the white box with the right gripper + subtask_index: 2 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 3 + - subtask: Place the brown towel on the white box with the left gripper + subtask_index: 4 + - subtask: Place the peach on the white box with the left gripper + subtask_index: 5 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 6 + - subtask: Place the blackboard erasure on the white box with the right gripper + subtask_index: 7 + - subtask: Grasp the banana with the left gripper + subtask_index: 8 + - subtask: Place the round bread on the white box with the right gripper + subtask_index: 9 + - subtask: Grasp the compasses with the right gripper + subtask_index: 10 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 11 + - subtask: Place the bread slice on the white box with the right gripper + subtask_index: 12 + - subtask: Place the blackboard erasure on the white box with the left gripper + subtask_index: 13 + - subtask: Place the bread slice on the white box with the left gripper + subtask_index: 14 + - subtask: Place the coke on the white box with the right gripper + subtask_index: 15 + - subtask: Place the blue cup on the white box with the left gripper + subtask_index: 16 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 17 + - subtask: Place the coke on the white box with the left gripper + subtask_index: 18 + - subtask: Place the square wooden block on the white box with the left gripper + subtask_index: 19 + - subtask: Place the blue cup on the white box with the right gripper + subtask_index: 20 + - subtask: Place the duck toy on the white box with the left gripper + subtask_index: 21 + - subtask: Grasp the back scratcher with the right gripper + subtask_index: 22 + - subtask: Place the blue pot on the white box with the right gripper + subtask_index: 23 + - subtask: Grasp the square chewing gum with the left gripper + subtask_index: 24 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 25 + - subtask: Place the round wooden block on the white box with the right gripper + subtask_index: 26 + - subtask: Place the square chewing gum on the white box with the right gripper + subtask_index: 27 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 28 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 29 + - subtask: Grasp the yogurt with the right gripper + subtask_index: 30 + - subtask: Grasp the tin with the left gripper + subtask_index: 31 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 32 + - subtask: Place the back scratcher into the basket with the right gripper + subtask_index: 33 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 34 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 35 + - subtask: Place the banana on the white box with the right gripper + subtask_index: 36 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 37 + - subtask: Place the shower sphere on the white box with the right gripper + subtask_index: 38 + - subtask: Place the green lemon into the basket with the right gripper + subtask_index: 39 + - subtask: Place the compasses on the white box with the right gripper + subtask_index: 40 + - subtask: Place the banana on the white box with the left gripper + subtask_index: 41 + - subtask: Grasp the peach with the left gripper + subtask_index: 42 + - subtask: Place the round wooden block on the white box with the left gripper + subtask_index: 43 + - subtask: Place the tin on the white box with the right gripper + subtask_index: 44 + - subtask: Place the potato chips on the white box with the right gripper + subtask_index: 45 + - subtask: Place the tape on the white box with the left gripper + subtask_index: 46 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 47 + - subtask: Place the blue pot on the white box with the left gripper + subtask_index: 48 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 49 + - subtask: Place the chocolate cake on the white box with the right gripper + subtask_index: 50 + - subtask: Place the compasses on the white box with the left gripper + subtask_index: 51 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 52 + - subtask: Place the soft facial cleanser on the white box with the right gripper + subtask_index: 53 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 54 + - subtask: End + subtask_index: 55 + - subtask: Place the hard facial cleanser on the white box with the left gripper + subtask_index: 56 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 57 + - subtask: Grasp the coke with the left gripper + subtask_index: 58 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 59 + - subtask: Place the square chewing gum on the white box with the left gripper + subtask_index: 60 + - subtask: Place the tape on the white box with the right gripper + subtask_index: 61 + - subtask: Place the shower sphere on the white box with the left gripper + subtask_index: 62 + - subtask: Grasp the compasses with the left gripper + subtask_index: 63 + - subtask: Place the brown towel on the white box with the right gripper + subtask_index: 64 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 65 + - subtask: Grasp the round bread with the right gripper + subtask_index: 66 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 67 + - subtask: Place the duck toy on the white box with the right gripper + subtask_index: 68 + - subtask: Place the chocolate on the white box with the right gripper + subtask_index: 69 + - subtask: Grasp the tin with the right gripper + subtask_index: 70 + - subtask: Place the chocolate cake on the white box with the left gripper + subtask_index: 71 + - subtask: Place the plugboard on the white box with the right gripper + subtask_index: 72 + - subtask: Grasp the tape with the right gripper + subtask_index: 73 + - subtask: Grasp the coke with the right gripper + subtask_index: 74 + - subtask: Grasp the tape with the left gripper + subtask_index: 75 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 76 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 77 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 78 + - subtask: Place the potato chips on the white box with the left gripper + subtask_index: 79 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 80 + - subtask: Place the round bread on the white box with the left gripper + subtask_index: 81 + - subtask: Grasp the round bread with the left gripper + subtask_index: 82 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 83 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 84 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 85 + - subtask: Place the yogurt on the white box with the right gripper + subtask_index: 86 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 87 + - subtask: Place the plugboard on the white box with the left gripper + subtask_index: 88 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 89 + - subtask: Grasp the banana with the right gripper + subtask_index: 90 + - subtask: 'null' + subtask_index: 91 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 27154 + dataset_size: 1.03 GB + data_structure: 'Galaxea_R1_Lite_storage_object_white_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml index cad1d4334c2eb32c6d5ebfe8889a6c1427abf676..69466d0f451d7a22e22b416d2568239c0d0e542f 100644 --- a/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml +++ b/dataset_info/Galaxea_R1_Lite_storage_object_yellow_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: yellow_basket level1: basket level2: yellow_basket @@ -195,212 +195,118 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use a gripper to pick the target object and place on the yellow basket. +task_result: 'null' +task_instruction: use a gripper to pick the target object and place on the yellow + basket. sub_tasks: -- subtask: Grasp the blue pot with the left gripper - subtask_index: 0 -- subtask: Grasp the plugboard with the left gripper - subtask_index: 1 -- subtask: Place the round wooden block on the yellow basket with the left gripper - subtask_index: 2 -- subtask: Grasp the potato chips with the right gripper - subtask_index: 3 -- subtask: Place the tin on the yellow basket with the right gripper - subtask_index: 4 -- subtask: Place the plugboard on the yellow basket with the left gripper - subtask_index: 5 -- subtask: Place the peach on the yellow basket with the left gripper - subtask_index: 6 -- subtask: Place the blue cup on the yellow basket with the right gripper - subtask_index: 7 -- subtask: Place the brown towel on the yellow basket with the right gripper - subtask_index: 8 -- subtask: Grasp the compasses with the right gripper - subtask_index: 9 -- subtask: Place the green lemon on the yellow basket with the right gripper - subtask_index: 10 -- subtask: Place the duck toy on the yellow basket with the right gripper - subtask_index: 11 -- subtask: Grasp the duck toy with the left gripper - subtask_index: 12 -- subtask: Place the blackboard erasure on the yellow basket with the left gripper - subtask_index: 13 -- subtask: Grasp the blue cup with the left gripper - subtask_index: 14 -- subtask: Place the bread slice on the yellow basket with the left gripper - subtask_index: 15 -- subtask: Place the hard facial cleanser on the yellow basket with the right gripper - subtask_index: 16 -- subtask: Place the peach on the yellow basket with the right gripper - subtask_index: 17 -- subtask: Grasp the back scratcher with the right gripper - subtask_index: 18 -- subtask: Place the tape on the yellow basket with the right gripper - subtask_index: 19 -- subtask: Place the blue pot on the yellow basket with the right gripper - subtask_index: 20 -- subtask: Grasp the chocolate cake with the right gripper - subtask_index: 21 -- subtask: Place the tape on the yellow basket with the left gripper - subtask_index: 22 -- subtask: Place the shower sphere on the yellow basket with the left gripper - subtask_index: 23 -- subtask: Place the yogurt on the yellow basket with the left gripper - subtask_index: 24 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 25 -- subtask: Grasp the plugboard with the right gripper - subtask_index: 26 -- subtask: Grasp the tin with the left gripper - subtask_index: 27 -- subtask: Grasp the brown towel with the left gripper - subtask_index: 28 -- subtask: Place the compasses on the yellow basket with the right gripper - subtask_index: 29 -- subtask: Place the hard facial cleanser on the yellow basket with the left gripper - subtask_index: 30 -- subtask: Grasp the hard facial cleanser with the left gripper - subtask_index: 31 -- subtask: Place the potato chips on the yellow basket with the left gripper - subtask_index: 32 -- subtask: Grasp the chocolate with the right gripper - subtask_index: 33 -- subtask: Place the banana on the yellow basket with the right gripper - subtask_index: 34 -- subtask: Grasp the peach with the right gripper - subtask_index: 35 -- subtask: Grasp the brown towel with the right gripper - subtask_index: 36 -- subtask: Place the chocolate cake on the yellow basket with the left gripper - subtask_index: 37 -- subtask: Place the shower sphere on the yellow basket with the right gripper - subtask_index: 38 -- subtask: Grasp the hard facial cleanser with the right gripper - subtask_index: 39 -- subtask: Place the back scratcher on the yellow basket with the right gripper - subtask_index: 40 -- subtask: Grasp the peach with the left gripper - subtask_index: 41 -- subtask: Place the blue cup on the yellow basket with the left gripper - subtask_index: 42 -- subtask: Grasp the green lemon with the right gripper - subtask_index: 43 -- subtask: Place the soft facial cleanser on the yellow basket with the right gripper - subtask_index: 44 -- subtask: Grasp the bread slice with the right gripper - subtask_index: 45 -- subtask: Grasp the potato chips with the left gripper - subtask_index: 46 -- subtask: Grasp the duck toy with the right gripper - subtask_index: 47 -- subtask: End - subtask_index: 48 -- subtask: Grasp the blackboard erasure with the left gripper - subtask_index: 49 -- subtask: Grasp the coke with the left gripper - subtask_index: 50 -- subtask: Place the blackboard erasure on the yellow basket with the right gripper - subtask_index: 51 -- subtask: Grasp the round wooden block with the left gripper - subtask_index: 52 -- subtask: Place the tin on the yellow basket with the left gripper - subtask_index: 53 -- subtask: Place the bread slice on the yellow basket with the right gripper - subtask_index: 54 -- subtask: Place the compasses on the yellow basket with the left gripper - subtask_index: 55 -- subtask: Place the square wooden block on the yellow basket with the left gripper - subtask_index: 56 -- subtask: Place the chocolate cake on the yellow basket with the right gripper - subtask_index: 57 -- subtask: Grasp the compasses with the left gripper - subtask_index: 58 -- subtask: Place the peach doll on the yellow basket with the left gripper - subtask_index: 59 -- subtask: Grasp the blue pot with the right gripper - subtask_index: 60 -- subtask: Grasp the round bread with the right gripper - subtask_index: 61 -- subtask: Grasp the chocolate cake with the left gripper - subtask_index: 62 -- subtask: Place the coke on the yellow basket with the left gripper - subtask_index: 63 -- subtask: Place the duck toy on the yellow basket with the left gripper - subtask_index: 64 -- subtask: Grasp the tin with the right gripper - subtask_index: 65 -- subtask: Place the round wooden block on the yellow basket with the right gripper - subtask_index: 66 -- subtask: Place the square wooden block on the yellow basket with the right gripper - subtask_index: 67 -- subtask: Grasp the tape with the right gripper - subtask_index: 68 -- subtask: Grasp the coke with the right gripper - subtask_index: 69 -- subtask: Place the round bread on the yellow basket with the right gripper - subtask_index: 70 -- subtask: Grasp the tape with the left gripper - subtask_index: 71 -- subtask: Grasp the square chewing gum with the right gripper - subtask_index: 72 -- subtask: Grasp the peach doll with the left gripper - subtask_index: 73 -- subtask: Grasp the shower sphere with the right gripper - subtask_index: 74 -- subtask: Place the brown towel on the yellow basket with the left gripper - subtask_index: 75 -- subtask: Grasp the bread slice with the left gripper - subtask_index: 76 -- subtask: Grasp the yogurt with the left gripper - subtask_index: 77 -- subtask: Grasp the blackboard erasure with the right gripper - subtask_index: 78 -- subtask: Place the coke on the yellow basket with the right gripper - subtask_index: 79 -- subtask: Place the chocolate on the yellow basket with the right gripper - subtask_index: 80 -- subtask: Place the potato chips on the yellow basket with the right gripper - subtask_index: 81 -- subtask: Place the plugboard on the yellow basket with the right gripper - subtask_index: 82 -- subtask: Place the blue pot on the yellow basket with the left gripper - subtask_index: 83 -- subtask: Place the round bread on the yellow basket with the left gripper - subtask_index: 84 -- subtask: Grasp the round bread with the left gripper - subtask_index: 85 -- subtask: Grasp the square wooden block with the left gripper - subtask_index: 86 -- subtask: Grasp the blue cup with the right gripper - subtask_index: 87 -- subtask: Grasp the soft facial cleanser with the right gripper - subtask_index: 88 -- subtask: Grasp the square wooden block with the right gripper - subtask_index: 89 -- subtask: Grasp the round wooden block with the right gripper - subtask_index: 90 -- subtask: Place the square chewing gum on the yellow basket with the right gripper - subtask_index: 91 -- subtask: Grasp the banana with the right gripper - subtask_index: 92 -- subtask: 'null' - subtask_index: 93 +- Grasp the blue pot with the left gripper +- Grasp the plugboard with the left gripper +- Place the round wooden block on the yellow basket with the left gripper +- Grasp the potato chips with the right gripper +- Place the tin on the yellow basket with the right gripper +- Place the plugboard on the yellow basket with the left gripper +- Place the peach on the yellow basket with the left gripper +- Place the blue cup on the yellow basket with the right gripper +- Place the brown towel on the yellow basket with the right gripper +- Grasp the compasses with the right gripper +- Place the green lemon on the yellow basket with the right gripper +- Place the duck toy on the yellow basket with the right gripper +- Grasp the duck toy with the left gripper +- Place the blackboard erasure on the yellow basket with the left gripper +- Grasp the blue cup with the left gripper +- Place the bread slice on the yellow basket with the left gripper +- Place the hard facial cleanser on the yellow basket with the right gripper +- Place the peach on the yellow basket with the right gripper +- Grasp the back scratcher with the right gripper +- Place the tape on the yellow basket with the right gripper +- Place the blue pot on the yellow basket with the right gripper +- Grasp the chocolate cake with the right gripper +- Place the tape on the yellow basket with the left gripper +- Place the shower sphere on the yellow basket with the left gripper +- Place the yogurt on the yellow basket with the left gripper +- Grasp the shower sphere with the left gripper +- Grasp the plugboard with the right gripper +- Grasp the tin with the left gripper +- Grasp the brown towel with the left gripper +- Place the compasses on the yellow basket with the right gripper +- Place the hard facial cleanser on the yellow basket with the left gripper +- Grasp the hard facial cleanser with the left gripper +- Place the potato chips on the yellow basket with the left gripper +- Grasp the chocolate with the right gripper +- Place the banana on the yellow basket with the right gripper +- Grasp the peach with the right gripper +- Grasp the brown towel with the right gripper +- Place the chocolate cake on the yellow basket with the left gripper +- Place the shower sphere on the yellow basket with the right gripper +- Grasp the hard facial cleanser with the right gripper +- Place the back scratcher on the yellow basket with the right gripper +- Grasp the peach with the left gripper +- Place the blue cup on the yellow basket with the left gripper +- Grasp the green lemon with the right gripper +- Place the soft facial cleanser on the yellow basket with the right gripper +- Grasp the bread slice with the right gripper +- Grasp the potato chips with the left gripper +- Grasp the duck toy with the right gripper +- End +- Grasp the blackboard erasure with the left gripper +- Grasp the coke with the left gripper +- Place the blackboard erasure on the yellow basket with the right gripper +- Grasp the round wooden block with the left gripper +- Place the tin on the yellow basket with the left gripper +- Place the bread slice on the yellow basket with the right gripper +- Place the compasses on the yellow basket with the left gripper +- Place the square wooden block on the yellow basket with the left gripper +- Place the chocolate cake on the yellow basket with the right gripper +- Grasp the compasses with the left gripper +- Place the peach doll on the yellow basket with the left gripper +- Grasp the blue pot with the right gripper +- Grasp the round bread with the right gripper +- Grasp the chocolate cake with the left gripper +- Place the coke on the yellow basket with the left gripper +- Place the duck toy on the yellow basket with the left gripper +- Grasp the tin with the right gripper +- Place the round wooden block on the yellow basket with the right gripper +- Place the square wooden block on the yellow basket with the right gripper +- Grasp the tape with the right gripper +- Grasp the coke with the right gripper +- Place the round bread on the yellow basket with the right gripper +- Grasp the tape with the left gripper +- Grasp the square chewing gum with the right gripper +- Grasp the peach doll with the left gripper +- Grasp the shower sphere with the right gripper +- Place the brown towel on the yellow basket with the left gripper +- Grasp the bread slice with the left gripper +- Grasp the yogurt with the left gripper +- Grasp the blackboard erasure with the right gripper +- Place the coke on the yellow basket with the right gripper +- Place the chocolate on the yellow basket with the right gripper +- Place the potato chips on the yellow basket with the right gripper +- Place the plugboard on the yellow basket with the right gripper +- Place the blue pot on the yellow basket with the left gripper +- Place the round bread on the yellow basket with the left gripper +- Grasp the round bread with the left gripper +- Grasp the square wooden block with the left gripper +- Grasp the blue cup with the right gripper +- Grasp the soft facial cleanser with the right gripper +- Grasp the square wooden block with the right gripper +- Grasp the round wooden block with the right gripper +- Place the square chewing gum on the yellow basket with the right gripper +- Grasp the banana with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -411,10 +317,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -422,7 +331,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 102 total_frames: 18153 fps: 30 @@ -509,9 +419,11 @@ data_structure: 'Galaxea_R1_Lite_storage_object_yellow_basket_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:101 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -779,7 +691,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -787,6 +699,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -813,6 +726,367 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_storage_object_yellow_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use a gripper to pick the target object and place on the yellow basket. + sub_tasks: + - subtask: Grasp the blue pot with the left gripper + subtask_index: 0 + - subtask: Grasp the plugboard with the left gripper + subtask_index: 1 + - subtask: Place the round wooden block on the yellow basket with the left gripper + subtask_index: 2 + - subtask: Grasp the potato chips with the right gripper + subtask_index: 3 + - subtask: Place the tin on the yellow basket with the right gripper + subtask_index: 4 + - subtask: Place the plugboard on the yellow basket with the left gripper + subtask_index: 5 + - subtask: Place the peach on the yellow basket with the left gripper + subtask_index: 6 + - subtask: Place the blue cup on the yellow basket with the right gripper + subtask_index: 7 + - subtask: Place the brown towel on the yellow basket with the right gripper + subtask_index: 8 + - subtask: Grasp the compasses with the right gripper + subtask_index: 9 + - subtask: Place the green lemon on the yellow basket with the right gripper + subtask_index: 10 + - subtask: Place the duck toy on the yellow basket with the right gripper + subtask_index: 11 + - subtask: Grasp the duck toy with the left gripper + subtask_index: 12 + - subtask: Place the blackboard erasure on the yellow basket with the left gripper + subtask_index: 13 + - subtask: Grasp the blue cup with the left gripper + subtask_index: 14 + - subtask: Place the bread slice on the yellow basket with the left gripper + subtask_index: 15 + - subtask: Place the hard facial cleanser on the yellow basket with the right gripper + subtask_index: 16 + - subtask: Place the peach on the yellow basket with the right gripper + subtask_index: 17 + - subtask: Grasp the back scratcher with the right gripper + subtask_index: 18 + - subtask: Place the tape on the yellow basket with the right gripper + subtask_index: 19 + - subtask: Place the blue pot on the yellow basket with the right gripper + subtask_index: 20 + - subtask: Grasp the chocolate cake with the right gripper + subtask_index: 21 + - subtask: Place the tape on the yellow basket with the left gripper + subtask_index: 22 + - subtask: Place the shower sphere on the yellow basket with the left gripper + subtask_index: 23 + - subtask: Place the yogurt on the yellow basket with the left gripper + subtask_index: 24 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 25 + - subtask: Grasp the plugboard with the right gripper + subtask_index: 26 + - subtask: Grasp the tin with the left gripper + subtask_index: 27 + - subtask: Grasp the brown towel with the left gripper + subtask_index: 28 + - subtask: Place the compasses on the yellow basket with the right gripper + subtask_index: 29 + - subtask: Place the hard facial cleanser on the yellow basket with the left gripper + subtask_index: 30 + - subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 31 + - subtask: Place the potato chips on the yellow basket with the left gripper + subtask_index: 32 + - subtask: Grasp the chocolate with the right gripper + subtask_index: 33 + - subtask: Place the banana on the yellow basket with the right gripper + subtask_index: 34 + - subtask: Grasp the peach with the right gripper + subtask_index: 35 + - subtask: Grasp the brown towel with the right gripper + subtask_index: 36 + - subtask: Place the chocolate cake on the yellow basket with the left gripper + subtask_index: 37 + - subtask: Place the shower sphere on the yellow basket with the right gripper + subtask_index: 38 + - subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 39 + - subtask: Place the back scratcher on the yellow basket with the right gripper + subtask_index: 40 + - subtask: Grasp the peach with the left gripper + subtask_index: 41 + - subtask: Place the blue cup on the yellow basket with the left gripper + subtask_index: 42 + - subtask: Grasp the green lemon with the right gripper + subtask_index: 43 + - subtask: Place the soft facial cleanser on the yellow basket with the right gripper + subtask_index: 44 + - subtask: Grasp the bread slice with the right gripper + subtask_index: 45 + - subtask: Grasp the potato chips with the left gripper + subtask_index: 46 + - subtask: Grasp the duck toy with the right gripper + subtask_index: 47 + - subtask: End + subtask_index: 48 + - subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 49 + - subtask: Grasp the coke with the left gripper + subtask_index: 50 + - subtask: Place the blackboard erasure on the yellow basket with the right gripper + subtask_index: 51 + - subtask: Grasp the round wooden block with the left gripper + subtask_index: 52 + - subtask: Place the tin on the yellow basket with the left gripper + subtask_index: 53 + - subtask: Place the bread slice on the yellow basket with the right gripper + subtask_index: 54 + - subtask: Place the compasses on the yellow basket with the left gripper + subtask_index: 55 + - subtask: Place the square wooden block on the yellow basket with the left gripper + subtask_index: 56 + - subtask: Place the chocolate cake on the yellow basket with the right gripper + subtask_index: 57 + - subtask: Grasp the compasses with the left gripper + subtask_index: 58 + - subtask: Place the peach doll on the yellow basket with the left gripper + subtask_index: 59 + - subtask: Grasp the blue pot with the right gripper + subtask_index: 60 + - subtask: Grasp the round bread with the right gripper + subtask_index: 61 + - subtask: Grasp the chocolate cake with the left gripper + subtask_index: 62 + - subtask: Place the coke on the yellow basket with the left gripper + subtask_index: 63 + - subtask: Place the duck toy on the yellow basket with the left gripper + subtask_index: 64 + - subtask: Grasp the tin with the right gripper + subtask_index: 65 + - subtask: Place the round wooden block on the yellow basket with the right gripper + subtask_index: 66 + - subtask: Place the square wooden block on the yellow basket with the right gripper + subtask_index: 67 + - subtask: Grasp the tape with the right gripper + subtask_index: 68 + - subtask: Grasp the coke with the right gripper + subtask_index: 69 + - subtask: Place the round bread on the yellow basket with the right gripper + subtask_index: 70 + - subtask: Grasp the tape with the left gripper + subtask_index: 71 + - subtask: Grasp the square chewing gum with the right gripper + subtask_index: 72 + - subtask: Grasp the peach doll with the left gripper + subtask_index: 73 + - subtask: Grasp the shower sphere with the right gripper + subtask_index: 74 + - subtask: Place the brown towel on the yellow basket with the left gripper + subtask_index: 75 + - subtask: Grasp the bread slice with the left gripper + subtask_index: 76 + - subtask: Grasp the yogurt with the left gripper + subtask_index: 77 + - subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 78 + - subtask: Place the coke on the yellow basket with the right gripper + subtask_index: 79 + - subtask: Place the chocolate on the yellow basket with the right gripper + subtask_index: 80 + - subtask: Place the potato chips on the yellow basket with the right gripper + subtask_index: 81 + - subtask: Place the plugboard on the yellow basket with the right gripper + subtask_index: 82 + - subtask: Place the blue pot on the yellow basket with the left gripper + subtask_index: 83 + - subtask: Place the round bread on the yellow basket with the left gripper + subtask_index: 84 + - subtask: Grasp the round bread with the left gripper + subtask_index: 85 + - subtask: Grasp the square wooden block with the left gripper + subtask_index: 86 + - subtask: Grasp the blue cup with the right gripper + subtask_index: 87 + - subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 88 + - subtask: Grasp the square wooden block with the right gripper + subtask_index: 89 + - subtask: Grasp the round wooden block with the right gripper + subtask_index: 90 + - subtask: Place the square chewing gum on the yellow basket with the right gripper + subtask_index: 91 + - subtask: Grasp the banana with the right gripper + subtask_index: 92 + - subtask: 'null' + subtask_index: 93 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 18153 + dataset_size: 742.42 MB + data_structure: 'Galaxea_R1_Lite_storage_object_yellow_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (90 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml b/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml index 5e86f2174da853a9f16919a071141cc97bed9dfa..57fdb1fa9548b3de9a44159d65cc20840c1ee475 100644 --- a/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml +++ b/dataset_info/Galaxea_R1_Lite_toggle_drawer_red.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: red_drawer level1: storage_utensils level2: red_drawer @@ -39,52 +39,37 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the gripper to open the drawer and close the red drawer. +task_result: 'null' +task_instruction: use the gripper to open the drawer and close the red drawer. sub_tasks: -- subtask: Open the red drawer with right gripper - subtask_index: 0 -- subtask: Open the yellow drawer with left gripper - subtask_index: 1 -- subtask: Close the red drawer with right gripper - subtask_index: 2 -- subtask: Close the yellow drawer with left gripper - subtask_index: 3 -- subtask: Open the red drawer with the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Open the red drawer with the left gripper - subtask_index: 6 -- subtask: Open the red drawer with left gripper - subtask_index: 7 -- subtask: Right gripper - subtask_index: 8 -- subtask: Close the red drawer with the left gripper - subtask_index: 9 -- subtask: Close the red drawer with the right gripper - subtask_index: 10 -- subtask: Close the red drawer with left gripper - subtask_index: 11 -- subtask: Left gripper - subtask_index: 12 -- subtask: 'null' - subtask_index: 13 +- Open the red drawer with right gripper +- Open the yellow drawer with left gripper +- Close the red drawer with right gripper +- Close the yellow drawer with left gripper +- Open the red drawer with the right gripper +- End +- Open the red drawer with the left gripper +- Open the red drawer with left gripper +- Right gripper +- Close the red drawer with the left gripper +- Close the red drawer with the right gripper +- Close the red drawer with left gripper +- Left gripper +- 'null' atomic_actions: - grasp - push - pull -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -95,10 +80,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -106,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 100 total_frames: 41856 fps: 30 @@ -193,9 +182,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_red_qced_hardlink |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:99 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -463,7 +454,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -471,6 +462,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -497,6 +489,207 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_toggle_drawer_red + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the gripper to open the drawer and close the red drawer. + sub_tasks: + - subtask: Open the red drawer with right gripper + subtask_index: 0 + - subtask: Open the yellow drawer with left gripper + subtask_index: 1 + - subtask: Close the red drawer with right gripper + subtask_index: 2 + - subtask: Close the yellow drawer with left gripper + subtask_index: 3 + - subtask: Open the red drawer with the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Open the red drawer with the left gripper + subtask_index: 6 + - subtask: Open the red drawer with left gripper + subtask_index: 7 + - subtask: Right gripper + subtask_index: 8 + - subtask: Close the red drawer with the left gripper + subtask_index: 9 + - subtask: Close the red drawer with the right gripper + subtask_index: 10 + - subtask: Close the red drawer with left gripper + subtask_index: 11 + - subtask: Left gripper + subtask_index: 12 + - subtask: 'null' + subtask_index: 13 + atomic_actions: + - grasp + - push + - pull + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 41856 + dataset_size: 1.80 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_red_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml index 17ff79e47c826f5371618e8b3da8e0bf2aee111f..f60f8b1baf7d61ba56358c2daee35de985031612 100644 --- a/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml +++ b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: yellow_drawer level1: storage_utensils level2: yellow_drawer @@ -39,48 +39,35 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the gripper to open the drawer and close the yellow drawer. +task_result: 'null' +task_instruction: use the gripper to open the drawer and close the yellow drawer. sub_tasks: -- subtask: Open the yellow drawer with left gripper - subtask_index: 0 -- subtask: Close the yellow drawer with left gripper - subtask_index: 1 -- subtask: Close the yellow drawer with the right gripper - subtask_index: 2 -- subtask: Open the yellow drawer with the right gripper - subtask_index: 3 -- subtask: Close the yellow drawer with the left gripper - subtask_index: 4 -- subtask: Open the yellow drawer with right gripper - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: Open the yellow drawer with the left gripper - subtask_index: 7 -- subtask: Close the yellow drawer with right gripper - subtask_index: 8 -- subtask: Right gripper - subtask_index: 9 -- subtask: Left gripper - subtask_index: 10 -- subtask: 'null' - subtask_index: 11 +- Open the yellow drawer with left gripper +- Close the yellow drawer with left gripper +- Close the yellow drawer with the right gripper +- Open the yellow drawer with the right gripper +- Close the yellow drawer with the left gripper +- Open the yellow drawer with right gripper +- End +- Open the yellow drawer with the left gripper +- Close the yellow drawer with right gripper +- Right gripper +- Left gripper +- 'null' atomic_actions: - grasp - push - pull -robot_name: -- Galaxea_R1_Lite +robot_name: Galaxea_R1_Lite end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_left_rgb - cam_head_right_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, @@ -91,10 +78,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: end_rotation_dim end_translation_dim: end_translation_dim -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -102,7 +92,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 97 total_frames: 37662 fps: 30 @@ -189,9 +180,11 @@ data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_yellow_qced_hardl |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:96 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_left_rgb: dtype: video shape: @@ -459,7 +452,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -467,6 +460,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -493,6 +487,203 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Galaxea_R1_Lite_toggle_drawer_yellow + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the gripper to open the drawer and close the yellow drawer. + sub_tasks: + - subtask: Open the yellow drawer with left gripper + subtask_index: 0 + - subtask: Close the yellow drawer with left gripper + subtask_index: 1 + - subtask: Close the yellow drawer with the right gripper + subtask_index: 2 + - subtask: Open the yellow drawer with the right gripper + subtask_index: 3 + - subtask: Close the yellow drawer with the left gripper + subtask_index: 4 + - subtask: Open the yellow drawer with right gripper + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: Open the yellow drawer with the left gripper + subtask_index: 7 + - subtask: Close the yellow drawer with right gripper + subtask_index: 8 + - subtask: Right gripper + subtask_index: 9 + - subtask: Left gripper + subtask_index: 10 + - subtask: 'null' + subtask_index: 11 + atomic_actions: + - grasp + - push + - pull + robot_name: + - Galaxea_R1_Lite + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: end_rotation_dim + end_translation_dim: end_translation_dim + annotations: *id009 + statistics: *id010 + frame_num: 37662 + dataset_size: 1.57 GB + data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_yellow_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galbot_g1_fold_clothe_b.yaml b/dataset_info/Galbot_g1_fold_clothe_b.yaml index c0a6231eeb3d4dbca4b8ea6d63e5433e7834a692..049cbf63934634c71708d40029954861a3cda048 100644 --- a/dataset_info/Galbot_g1_fold_clothe_b.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_b.yaml @@ -1,16 +1,35 @@ -path: Galbot_g1_fold_clothe_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_clothe_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- flod -tasks: Abnormal -objects: +dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-197328 -dataset_size: 8.8GB -statistics: - total_episodes: 213 - total_frames: 197328 - total_tasks: 1 - total_videos: 639 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - use the left gripper to clamp the left edge of the fabric @@ -56,7 +62,31 @@ sub_tasks: over the right edge - Flip the folded clothes over with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- flod +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 213 + total_frames: 197328 + total_tasks: 1 + total_videos: 639 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 197328 +dataset_size: 8.8GB +data_structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,38 +165,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_fold_clothe_b + dataset_name: fold_clothe_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - flod + tasks: Abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-197328 + dataset_size: 8.8GB + statistics: *id002 + dataset_uuid: 0dd63c25-960f-4489-88af-e3c5c38998c2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - use the left gripper to clamp the left edge of the fabric + - Drag the clothes to the center of the table + - End + - use both grippers simultaneously to clamp the upper edge of the clothing fabric + - use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge + - use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge + - use both grippers simultaneously to clamp the lower edge of the clothing fabric + - Drag the clothes downward with both gripper + - use the left gripper to drag the left edge of the fabric to the left and folds + it over the right edge + - Flip the folded clothes over with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_fold_clothe_c.yaml b/dataset_info/Galbot_g1_fold_clothe_c.yaml index c03921c7f22dd178f1872bc5f2defb0b96dfedfe..9f01ec7264501203ef8a9f6e78efd7cac2349fa1 100644 --- a/dataset_info/Galbot_g1_fold_clothe_c.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_c.yaml @@ -1,16 +1,35 @@ -path: Galbot_g1_fold_clothe_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_clothe_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- flod -tasks: Abnormal -objects: +dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-516810 -dataset_size: 22.3GB -statistics: - total_episodes: 666 - total_frames: 516810 - total_tasks: 1 - total_videos: 1998 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - use the left gripper to clamp the left edge of the fabric @@ -56,7 +62,31 @@ sub_tasks: over the right edge - Flip the folded clothes over with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- flod +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 666 + total_frames: 516810 + total_tasks: 1 + total_videos: 1998 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 516810 +dataset_size: 22.3GB +data_structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,38 +165,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_fold_clothe_c + dataset_name: fold_clothe_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - flod + tasks: Abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-516810 + dataset_size: 22.3GB + statistics: *id002 + dataset_uuid: 9c9c15eb-08d9-4119-b551-ce2439643f0f + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - use the left gripper to clamp the left edge of the fabric + - Drag the clothes to the center of the table + - End + - use both grippers simultaneously to clamp the upper edge of the clothing fabric + - use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge + - use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge + - use both grippers simultaneously to clamp the lower edge of the clothing fabric + - Drag the clothes downward with both gripper + - use the left gripper to drag the left edge of the fabric to the left and folds + it over the right edge + - Flip the folded clothes over with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_fold_clothe_e.yaml b/dataset_info/Galbot_g1_fold_clothe_e.yaml index 97475371efcc7c0303119d9eb52aadca7320153b..dab7e7332fcc0514422eefd90e9b8cd22c1d22b6 100644 --- a/dataset_info/Galbot_g1_fold_clothe_e.yaml +++ b/dataset_info/Galbot_g1_fold_clothe_e.yaml @@ -1,16 +1,35 @@ -path: Galbot_g1_fold_clothe_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_clothe_e -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- flod -tasks: Flip the folded clothes over with right gripper -objects: +dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-692130 -dataset_size: 25.8GB -statistics: - total_episodes: 865 - total_frames: 692130 - total_tasks: 1 - total_videos: 2595 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Flip the folded clothes over with right gripper sub_tasks: - Flip the folded clothes over with right gripper - Abnormal @@ -57,7 +63,31 @@ sub_tasks: over the right edge - Flip the folded clothes over with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- flod +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 865 + total_frames: 692130 + total_tasks: 1 + total_videos: 2595 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 692130 +dataset_size: 25.8GB +data_structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,38 +166,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_fold_clothe_e + dataset_name: fold_clothe_e + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - flod + tasks: Flip the folded clothes over with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-692130 + dataset_size: 25.8GB + statistics: *id002 + dataset_uuid: 55462322-b5d2-4e42-a329-a02ce05490b8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Flip the folded clothes over with right gripper + - Abnormal + - use the left gripper to clamp the left edge of the fabric + - Drag the clothes to the center of the table + - End + - use both grippers simultaneously to clamp the upper edge of the clothing fabric + - use both grippers to drag the lower edge of the fabric forward and fold it over + the upper edge + - use both grippers to drag the upper edge of the fabric backward and fold it over + the lower edge + - use both grippers simultaneously to clamp the lower edge of the clothing fabric + - Drag the clothes downward with both gripper + - use the left gripper to drag the left edge of the fabric to the left and folds + it over the right edge + - Flip the folded clothes over with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_fold_clothe_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml index 25f58e27e00b1a68b56ebd4ec7ca1229bb00495e..f1a48924f28fd3563d0f7cd6b9f33b019cfdecf3 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_a.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-250217 -dataset_size: 4.3GB -statistics: - total_episodes: 266 - total_frames: 250217 - total_tasks: 1 - total_videos: 798 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the baozi on the steamer with right gripper @@ -64,7 +71,30 @@ sub_tasks: - Grasp the pot lid with left gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 266 + total_frames: 250217 + total_tasks: 1 + total_videos: 798 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 250217 +dataset_size: 4.3GB +data_structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_a + dataset_name: steamer_storage_baozi_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-250217 + dataset_size: 4.3GB + statistics: *id002 + dataset_uuid: 1e479c19-9f69-42ac-9238-114fcf1a487c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the baozi on the steamer with right gripper + - Place the pot lid on the steamer with left gripper + - Grasp the pot lid with left gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml index ed85e8d73c9db824276f5c13f32c8990ccb7e607..593723989ae26c2fd4f4588425fc4eb3e422fd5e 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_b.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-449647 -dataset_size: 8.5GB -statistics: - total_episodes: 430 - total_frames: 449647 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -65,7 +72,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 430 + total_frames: 449647 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 449647 +dataset_size: 8.5GB +data_structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_b + dataset_name: steamer_storage_baozi_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-449647 + dataset_size: 8.5GB + statistics: *id002 + dataset_uuid: 8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Abnormal + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml index d62c60be291d99850617116511684b11b8545de1..6042acd656a5050eab845578d3aaf1144787a7b2 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_c.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_c -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-226059 -dataset_size: 4.0GB -statistics: - total_episodes: 207 - total_frames: 226059 - total_tasks: 1 - total_videos: 621 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -65,7 +72,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 207 + total_frames: 226059 + total_tasks: 1 + total_videos: 621 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 226059 +dataset_size: 4.0GB +data_structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_c + dataset_name: steamer_storage_baozi_c + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-226059 + dataset_size: 4.0GB + statistics: *id002 + dataset_uuid: 9e52b78e-5521-46bc-a8f7-c30253014025 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Abnormal + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml index e4e69aec941ff2744af789f8a9a73f13dc614891..74c85234f219fe3c335baf06cd6eb98ce3687af5 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_d.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_d -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-992823 -dataset_size: 16.7GB -statistics: - total_episodes: 969 - total_frames: 992823 - total_tasks: 1 - total_videos: 2907 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -65,7 +72,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 969 + total_frames: 992823 + total_tasks: 1 + total_videos: 2907 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 992823 +dataset_size: 16.7GB +data_structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_d + dataset_name: steamer_storage_baozi_d + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-992823 + dataset_size: 16.7GB + statistics: *id002 + dataset_uuid: 6476bc25-2a08-4c26-98c9-e84875c9b667 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Abnormal + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml index 10f13194da2bd94062586591f33d0954e966f384..f8456ed764ce34a7992b983ae2089197ff29b4d7 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_e.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_e -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-627792 -dataset_size: 11.2GB -statistics: - total_episodes: 607 - total_frames: 627792 - total_tasks: 1 - total_videos: 1821 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Abnormal @@ -65,7 +72,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 607 + total_frames: 627792 + total_tasks: 1 + total_videos: 1821 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 627792 +dataset_size: 11.2GB +data_structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_e + dataset_name: steamer_storage_baozi_e + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-627792 + dataset_size: 11.2GB + statistics: *id002 + dataset_uuid: c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Abnormal + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml index 307cebf51e4a6d27f51aa693ba03088912599344..7978f29f06a78ed61275427f539da9b488ac6f25 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_f.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_f +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_f -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-101540 -dataset_size: 2.0GB -statistics: - total_episodes: 96 - total_frames: 101540 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -64,7 +71,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 96 + total_frames: 101540 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 101540 +dataset_size: 2.0GB +data_structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_f + dataset_name: steamer_storage_baozi_f + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-101540 + dataset_size: 2.0GB + statistics: *id002 + dataset_uuid: 1e21db73-d466-45c1-8126-027d96c93953 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml index 891b4f51ce5d87d42ad5da72030a8759d5c58c5b..7bdf65f1c7194bec7c2daf62a32dfd5e5b8114e3 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_g.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_g +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_g -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-87860 -dataset_size: 1.6GB -statistics: - total_episodes: 89 - total_frames: 87860 - total_tasks: 1 - total_videos: 267 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -64,7 +71,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 89 + total_frames: 87860 + total_tasks: 1 + total_videos: 267 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 87860 +dataset_size: 1.6GB +data_structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_g + dataset_name: steamer_storage_baozi_g + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-87860 + dataset_size: 1.6GB + statistics: *id002 + dataset_uuid: fc0c05a2-5b0d-4aa4-9329-eb16047d2f03 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml index 398b4fa9c9b7e05036310eaf92ed3038a62ba47d..68a29eedf0f98a9e56166c70ff027cc88b2c494a 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_h.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_h +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_h -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 23188104-2751-4169-b13b-286381a44645 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-979757 -dataset_size: 18.2GB -statistics: - total_episodes: 996 - total_frames: 979757 - total_tasks: 1 - total_videos: 2988 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 23188104-2751-4169-b13b-286381a44645 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the baozi on the steamer with right gripper @@ -64,7 +71,30 @@ sub_tasks: - Grasp the pot lid with left gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 996 + total_frames: 979757 + total_tasks: 1 + total_videos: 2988 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 979757 +dataset_size: 18.2GB +data_structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_h + dataset_name: steamer_storage_baozi_h + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-979757 + dataset_size: 18.2GB + statistics: *id002 + dataset_uuid: 23188104-2751-4169-b13b-286381a44645 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the baozi on the steamer with right gripper + - Place the pot lid on the steamer with left gripper + - Grasp the pot lid with left gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml index fa3b7704153b3a5c6d6f82390f46ff9ad65c11c2..c6cc9155a7ea1dfcce44e3a439ac15165a2b131c 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_i.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_i +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_i -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the pot lid with left gripper -objects: +dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-30158 -dataset_size: 558.3MB -statistics: - total_episodes: 32 - total_frames: 30158 - total_tasks: 1 - total_videos: 96 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pot lid with left gripper sub_tasks: - Grasp the pot lid with left gripper - Place the pot lid on the steamer with left gripper @@ -64,7 +71,30 @@ sub_tasks: - Place the baozi on the steamer with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 32 + total_frames: 30158 + total_tasks: 1 + total_videos: 96 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 30158 +dataset_size: 558.3MB +data_structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_i + dataset_name: steamer_storage_baozi_i + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the pot lid with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-30158 + dataset_size: 558.3MB + statistics: *id002 + dataset_uuid: 297d5a36-b520-4bf8-b733-99252b14cb64 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pot lid with left gripper + - Place the pot lid on the steamer with left gripper + - End + - Place the baozi on the steamer with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml index 1932b0716a0548626381f889a38f4be51e1d3097..dff17ee9a83641c462d5286354e538b2490175ca 100644 --- a/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml +++ b/dataset_info/Galbot_g1_steamer_storage_baozi_j.yaml @@ -1,15 +1,35 @@ -path: Galbot_g1_steamer_storage_baozi_j +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: steamer_storage_baozi_j -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the pot lid on the table with left gripper -objects: +dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-56015 -dataset_size: 1.1GB -statistics: - total_episodes: 41 - total_frames: 56015 - total_tasks: 1 - total_videos: 123 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the pot lid on the table with left gripper sub_tasks: - Place the pot lid on the table with left gripper - Grasp the pot lid with left gripper @@ -69,7 +76,30 @@ sub_tasks: - Move the switch to the left with right gripper - Grasp the baozi in the plate with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Galbot_g1 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -77,7 +107,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 41 + total_frames: 56015 + total_tasks: 1 + total_videos: 123 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 56015 +dataset_size: 1.1GB +data_structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -86,13 +151,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -110,40 +178,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Galbot_g1_steamer_storage_baozi_j + dataset_name: steamer_storage_baozi_j + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the pot lid on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-56015 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: b53dc50b-2b01-4783-900a-e0a8fa876a20 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the pot lid on the table with left gripper + - Grasp the pot lid with left gripper + - Place the pot lid on the steamer with left gripper + - End + - Move the switch to the right with left gripper + - Place the baozi on the steamer with right gripper + - Grasp the baozi with right gripper + - Place the baozi on the plate with right gripper + - Move the switch to the left with right gripper + - Grasp the baozi in the plate with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml index 1dccb9697c7d663950b5da7e6b43fc36f12846b2..18c339cf478543af2d4fa061a1d33177234dc92b 100644 --- a/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml +++ b/dataset_info/R1_Lite_boil_water_in_a_kettle.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_boil_water_in_a_kettle +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: boil_water_in_a_kettle -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Start boiling water -objects: +dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: stove_top level1: furniture level2: stove_top @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-85792 -dataset_size: 3.9GB -statistics: - total_episodes: 75 - total_frames: 85792 - total_tasks: 1 - total_videos: 225 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Start boiling water sub_tasks: - Start boiling water - Place it on the power base @@ -60,7 +67,30 @@ sub_tasks: - Pick up the kettle - Grab the kettle - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 75 + total_frames: 85792 + total_tasks: 1 + total_videos: 225 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 85792 +dataset_size: 3.9GB +data_structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,40 +169,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_boil_water_in_a_kettle + dataset_name: boil_water_in_a_kettle + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Start boiling water + objects: *id001 + operation_platform_height: null + frame_range: 0-85792 + dataset_size: 3.9GB + statistics: *id002 + dataset_uuid: 68764373-ee5e-45aa-ad8a-1ca6cf3e0834 + language: *id003 + task_categories: *id004 + sub_tasks: + - Start boiling water + - Place it on the power base + - Finish boiling water + - abnormal + - Place it by the sink + - Pick up the kettle + - Grab the kettle + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_build_blocks.yaml b/dataset_info/R1_Lite_build_blocks.yaml index ac519d2d837695253fcb7c9ee9412485dc2c2858..3774e15bbdc04a89747d69fc428d180ee37d58b3 100644 --- a/dataset_info/R1_Lite_build_blocks.yaml +++ b/dataset_info/R1_Lite_build_blocks.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_build_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: build_blocks -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the arch-shaped block in the center of view with the left gripper -objects: +dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-59296 -dataset_size: 1.8GB -statistics: - total_episodes: 66 - total_frames: 59296 - total_tasks: 1 - total_videos: 264 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the arch-shaped block in the center of view with the left + gripper sub_tasks: - Place the arch-shaped block in the center of view with the left gripper - Grasp the arch-shaped block with the left gripper @@ -49,7 +57,30 @@ sub_tasks: - End - Grasp the triangle-shaped block with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +88,44 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 66 + total_frames: 59296 + total_tasks: 1 + total_videos: 264 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 59296 +dataset_size: 1.8GB +data_structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,44 +161,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_build_blocks + dataset_name: build_blocks + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the arch-shaped block in the center of view with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-59296 + dataset_size: 1.8GB + statistics: *id002 + dataset_uuid: a56eff90-9eaa-4804-91c6-27e733d07c46 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the arch-shaped block in the center of view with the left gripper + - Grasp the arch-shaped block with the left gripper + - Place the triangle-shaped block onto the box-shaped block with the left grippe + - Grasp the box-shaped block with the right gripper + - Place the box-shaped block onto the arch-shaped block with the right gripper + - Static + - End + - Grasp the triangle-shaped block with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_catch_the_water.yaml b/dataset_info/R1_Lite_catch_the_water.yaml index cdcc7713bcbf1de8805b7b91c1a257966b5f64e5..9ad830c7750c171c024fd814f1b38fcb17ffea33 100644 --- a/dataset_info/R1_Lite_catch_the_water.yaml +++ b/dataset_info/R1_Lite_catch_the_water.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_catch_the_water +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: catch_the_water -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -- close -tasks: Place the cup next to the water dispenser -objects: +dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -30,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-133503 -dataset_size: 5.6GB -statistics: - total_episodes: 148 - total_frames: 133503 - total_tasks: 1 - total_videos: 444 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the cup next to the water dispenser sub_tasks: - Place the cup next to the water dispenser - abnormal @@ -55,7 +60,32 @@ sub_tasks: - Place it under the water dispenser - Turn on the faucet - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +- close +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 148 + total_frames: 133503 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 133503 +dataset_size: 5.6GB +data_structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,38 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_catch_the_water + dataset_name: catch_the_water + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + - close + tasks: Place the cup next to the water dispenser + objects: *id001 + operation_platform_height: null + frame_range: 0-133503 + dataset_size: 5.6GB + statistics: *id002 + dataset_uuid: 071ba9f6-2258-439b-82bd-6fec0968ae25 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the cup next to the water dispenser + - abnormal + - Pick up the cup + - Turn off the faucet + - Place it under the water dispenser + - Turn on the faucet + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_clean_the_floor.yaml b/dataset_info/R1_Lite_clean_the_floor.yaml index 49172d22024684dec4df7a1244d3906b35e5b38b..1db236ca7ef3bd2a2498054b07841bd621f80b5b 100644 --- a/dataset_info/R1_Lite_clean_the_floor.yaml +++ b/dataset_info/R1_Lite_clean_the_floor.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_clean_the_floor +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_the_floor -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- wipe -tasks: abnormal -objects: +dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: floor level1: home_building_materials level2: floor @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-159495 -dataset_size: 10.1GB -statistics: - total_episodes: 87 - total_frames: 159495 - total_tasks: 1 - total_videos: 261 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: abnormal sub_tasks: - abnormal - Put down the rag @@ -62,7 +68,31 @@ sub_tasks: - Pick up the rag - Lay down the carpet - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- wipe +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 87 + total_frames: 159495 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 159495 +dataset_size: 10.1GB +data_structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,38 +171,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_clean_the_floor + dataset_name: clean_the_floor + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - wipe + tasks: abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-159495 + dataset_size: 10.1GB + statistics: *id002 + dataset_uuid: e5bd0025-b766-49f0-b99d-9321e477b362 + language: *id003 + task_categories: *id004 + sub_tasks: + - abnormal + - Put down the rag + - Pick up the foam protection net + - Lift up the carpet + - Place the foam protection net on the floor + - Wipe the floor under the carpet with a rag + - Pick up the rag + - Lay down the carpet + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_clean_the_sink.yaml b/dataset_info/R1_Lite_clean_the_sink.yaml index 55f2f5adaeec9bf5ce265c99ede10814c0ae0208..c8ccb3e2c24fdad31f4e2c7bf8c9e38b6737cf56 100644 --- a/dataset_info/R1_Lite_clean_the_sink.yaml +++ b/dataset_info/R1_Lite_clean_the_sink.yaml @@ -1,18 +1,35 @@ -path: R1_Lite_clean_the_sink +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_the_sink -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -- wipe -- close -tasks: Pick up the cloth -objects: +dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: washbasin level1: container level2: washbasin @@ -31,30 +48,43 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-104391 -dataset_size: 3.8GB -statistics: - total_episodes: 120 - total_frames: 104391 - total_tasks: 1 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the cloth sub_tasks: - Pick up the cloth - Turn on the faucet - Wipe the sink - Turn off the faucet - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 120 + total_frames: 104391 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 104391 +dataset_size: 3.8GB +data_structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,38 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_clean_the_sink + dataset_name: clean_the_sink + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + - wipe + - close + tasks: Pick up the cloth + objects: *id001 + operation_platform_height: null + frame_range: 0-104391 + dataset_size: 3.8GB + statistics: *id002 + dataset_uuid: d29e439c-d1a9-41e5-ab2b-e264195dda27 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the cloth + - Turn on the faucet + - Wipe the sink + - Turn off the faucet + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_clean_toilet.yaml b/dataset_info/R1_Lite_clean_toilet.yaml index 6a9c68bf9e206a3971956c6b5958af1651610dfa..d9a60fd6c77e82876b2c270e7c234adb02a84c8d 100644 --- a/dataset_info/R1_Lite_clean_toilet.yaml +++ b/dataset_info/R1_Lite_clean_toilet.yaml @@ -1,18 +1,35 @@ -path: R1_Lite_clean_toilet +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_toilet -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- close -- open -- press -tasks: Use the left hand to lift the toilet lid slightly -objects: +dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: toilet level1: sanitary_ware level2: toilet @@ -37,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-264408 -dataset_size: 11.8GB -statistics: - total_episodes: 99 - total_frames: 264408 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Use the left hand to lift the toilet lid slightly sub_tasks: - Use the left hand to lift the toilet lid slightly - Pour in the cleaning agent @@ -67,7 +71,33 @@ sub_tasks: - Scrub the toilet bowl - Use the right hand to fully open the toilet lid - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- close +- open +- press +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 99 + total_frames: 264408 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 264408 +dataset_size: 11.8GB +data_structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +148,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,38 +175,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_clean_toilet + dataset_name: clean_toilet + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - close + - open + - press + tasks: Use the left hand to lift the toilet lid slightly + objects: *id001 + operation_platform_height: null + frame_range: 0-264408 + dataset_size: 11.8GB + statistics: *id002 + dataset_uuid: 5a0c1792-b168-4b12-ab0b-1cdb826fce18 + language: *id003 + task_categories: *id004 + sub_tasks: + - Use the left hand to lift the toilet lid slightly + - Pour in the cleaning agent + - End + - Flush the toilet + - Place the cleaning agent on the floor + - Put the toilet brush back + - Close the toilet lid + - Abnormal + - Open the toilet lid + - Scrub the toilet bowl + - Use the right hand to fully open the toilet lid + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_clean_toilet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_connect_the_router_cable.yaml b/dataset_info/R1_Lite_connect_the_router_cable.yaml index c41ee0300c8dd22a8a3a7a3e3e745aad28134f29..dfbe6323b00e93244b9232dfe6777936df122dcb 100644 --- a/dataset_info/R1_Lite_connect_the_router_cable.yaml +++ b/dataset_info/R1_Lite_connect_the_router_cable.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_connect_the_router_cable +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: connect_the_router_cable -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- insert -tasks: Hand it to the other hand -objects: +dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -41,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-165617 -dataset_size: 9.4GB -statistics: - total_episodes: 105 - total_frames: 165617 - total_tasks: 1 - total_videos: 315 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand it to the other hand sub_tasks: - Hand it to the other hand - Pick up plug @@ -86,7 +92,31 @@ sub_tasks: - Plug it into the receiver - Pick up the plug - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- insert +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -94,7 +124,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 105 + total_frames: 165617 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 165617 +dataset_size: 9.4GB +data_structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -103,13 +168,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -127,40 +195,137 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_connect_the_router_cable + dataset_name: connect_the_router_cable + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - insert + tasks: Hand it to the other hand + objects: *id001 + operation_platform_height: null + frame_range: 0-165617 + dataset_size: 9.4GB + statistics: *id002 + dataset_uuid: 2802db0f-0c22-4fba-b305-aae14b28e492 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand it to the other hand + - Pick up plug + - Pick up the cable + - Close the lower drawer + - Place the iced tea in the fridge + - Open the upper fridge door + - Plug it into the socket + - End + - Place zucchini in the lower drawer + - Open the lower drawer + - Deliver it to the other hand + - Abnormal + - Plug plug into socket + - Open the plastic bag + - Place pear in the lower drawer + - Place the Wahaha in the fridge + - Pick up cable + - Close the middle refrigerator door + - Open the middle refrigerator door + - Place king oyster Mushroom in the lower drawer + - Plug cable into router interface + - Align cable and router interface + - Close the upper refrigerator door + - Align plug and socket + - Plug it into the receiver + - Pick up the plug + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_cook_a_meal.yaml b/dataset_info/R1_Lite_cook_a_meal.yaml index e988dc5ef11934b487a68f1d1f189841a5641401..ea28c39e4a892ffad4c4c79dfb772319309630b2 100644 --- a/dataset_info/R1_Lite_cook_a_meal.yaml +++ b/dataset_info/R1_Lite_cook_a_meal.yaml @@ -1,19 +1,35 @@ -path: R1_Lite_cook_a_meal +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cook_a_meal -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -- pressbutton -- close -- flip -tasks: Turn off the faucet with the right gripper -objects: +dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: bowl level1: container level2: bowl @@ -50,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-161442 -dataset_size: 7.9GB -statistics: - total_episodes: 82 - total_frames: 161442 - total_tasks: 1 - total_videos: 246 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn off the faucet with the right gripper sub_tasks: - Turn off the faucet with the right gripper - Pour water into the rice cooker with the left gripper @@ -95,7 +98,34 @@ sub_tasks: - Fill a bowl with water from the tap - Pour the chopped green onions from the bowl into the rice cooker - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +- pressbutton +- close +- flip +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -103,7 +133,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 82 + total_frames: 161442 + total_tasks: 1 + total_videos: 246 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 161442 +dataset_size: 7.9GB +data_structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -112,13 +176,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -136,38 +203,140 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_cook_a_meal + dataset_name: cook_a_meal + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + - pressbutton + - close + - flip + tasks: Turn off the faucet with the right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-161442 + dataset_size: 7.9GB + statistics: *id002 + dataset_uuid: e717e360-f72c-4b13-aa1f-f10657b9b68d + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn off the faucet with the right gripper + - Pour water into the rice cooker with the left gripper + - Grab the bowl with the right gripper + - Turn on the faucet with the left gripper + - Pour the rice from the bowl into the rice cooker + - Put the bowl on the table with the left gripper + - Open the rice cooker with the right gripper + - End + - Pour the water from the bowl into the rice cooker + - Grab the bowl with the left gripper + - Pick up the bowl on the table + - Abnormal + - Close the rice cooker + - Turn off the rice cooker with the both gripper + - Turn off the tap + - Place the bowl on the table + - Turn off the faucet with the left gripper + - Open the rice cooker + - Pour water into the rice cooker with the right gripper + - Turn on the tap + - Put the bowl under the faucet with the right gripper + - Press the start button + - Put the bowl under the faucet with the left gripper + - Put the bowl on the table with the right gripper + - Fill a bowl with water from the tap + - Pour the chopped green onions from the bowl into the rice cooker + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_cook_a_meal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_cover_the_pot_lid.yaml b/dataset_info/R1_Lite_cover_the_pot_lid.yaml index e4ba134ef5198c9516b4727ae8539cac3809fe3d..2dc63281f5d35ef76e67763ea59cfbc311525a76 100644 --- a/dataset_info/R1_Lite_cover_the_pot_lid.yaml +++ b/dataset_info/R1_Lite_cover_the_pot_lid.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_cover_the_pot_lid +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: cover_the_pot_lid -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the steamer -objects: +dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: steamer_cage level1: container level2: steamer_cage @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-65358 -dataset_size: 4.1GB -statistics: - total_episodes: 100 - total_frames: 65358 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the steamer sub_tasks: - Pick up the steamer - Put the steamer - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 100 + total_frames: 65358 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 65358 +dataset_size: 4.1GB +data_structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,39 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_cover_the_pot_lid + dataset_name: cover_the_pot_lid + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the steamer + objects: *id001 + operation_platform_height: null + frame_range: 0-65358 + dataset_size: 4.1GB + statistics: *id002 + dataset_uuid: 41489668-9cf7-44d4-ba77-a691084c63fe + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the steamer + - Put the steamer + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_cover_the_pot_lid_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_dispose_of_leftover_food.yaml b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml index 2f8363c6a55d44690c9b372113fb0455992d97b7..6ababb5b4dcaa28d1c37a81e601456f055a5a595 100644 --- a/dataset_info/R1_Lite_dispose_of_leftover_food.yaml +++ b/dataset_info/R1_Lite_dispose_of_leftover_food.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_dispose_of_leftover_food +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: dispose_of_leftover_food -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- flip -tasks: Move the bowl over the trash can -objects: +dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -41,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-135632 -dataset_size: 7.5GB -statistics: - total_episodes: 127 - total_frames: 135632 - total_tasks: 1 - total_videos: 381 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move the bowl over the trash can sub_tasks: - Move the bowl over the trash can - Pour the leftover food from the plate into the trash can @@ -68,7 +74,31 @@ sub_tasks: - Pick up the bowl with leftover food - Put the plate back to the table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- flip +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -76,7 +106,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 127 + total_frames: 135632 + total_tasks: 1 + total_videos: 381 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 135632 +dataset_size: 7.5GB +data_structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -85,13 +150,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -109,40 +177,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_dispose_of_leftover_food + dataset_name: dispose_of_leftover_food + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - flip + tasks: Move the bowl over the trash can + objects: *id001 + operation_platform_height: null + frame_range: 0-135632 + dataset_size: 7.5GB + statistics: *id002 + dataset_uuid: b7ae3dcc-5b70-445f-b473-3d83772d3b1b + language: *id003 + task_categories: *id004 + sub_tasks: + - Move the bowl over the trash can + - Pour the leftover food from the plate into the trash can + - Pour the leftover food from the bowl into the trash can + - Pick up the plate with leftover food + - Put the bowl back to the table + - Move the plate over the trash can + - Pick up the bowl with leftover food + - Put the plate back to the table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml index aba040e6222aa98a0b93236bce57a00f8c97bc6a..7c6c92caf21dace6d601c60418b14b515bd70a60 100644 --- a/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml +++ b/dataset_info/R1_Lite_drawer_storage_hair_dryer.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_drawer_storage_hair_dryer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: drawer_storage_hair_dryer -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- push -- pull -tasks: abnormal -objects: +dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: drawer level1: container level2: drawer @@ -30,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-206825 -dataset_size: 9.4GB -statistics: - total_episodes: 145 - total_frames: 206825 - total_tasks: 1 - total_videos: 435 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: abnormal sub_tasks: - abnormal - Put it into the drawer @@ -56,7 +61,32 @@ sub_tasks: - Pull open the drawer - Pick up the hairdryer - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- push +- pull +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 145 + total_frames: 206825 + total_tasks: 1 + total_videos: 435 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 206825 +dataset_size: 9.4GB +data_structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,40 +165,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_drawer_storage_hair_dryer + dataset_name: drawer_storage_hair_dryer + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - push + - pull + tasks: abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-206825 + dataset_size: 9.4GB + statistics: *id002 + dataset_uuid: 7ec2120b-9c60-40ef-901e-6526e5f7bae8 + language: *id003 + task_categories: *id004 + sub_tasks: + - abnormal + - Put it into the drawer + - Take the hairdryer out + - Close the drawer + - Place it on the countertop + - Pull open the drawer + - Pick up the hairdryer + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_fold_clothes.yaml b/dataset_info/R1_Lite_fold_clothes.yaml index 0fa88163c44e5d2ae9cd47cb7552246830cf53be..24626d389490458fc2bf137813779933e2628b49 100644 --- a/dataset_info/R1_Lite_fold_clothes.yaml +++ b/dataset_info/R1_Lite_fold_clothes.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_fold_clothes +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_clothes -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- fold -- unfold -tasks: Unford the yellow T-shirt -objects: +dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: bed level1: furniture level2: bed @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-283265 -dataset_size: 17.4GB -statistics: - total_episodes: 111 - total_frames: 283265 - total_tasks: 1 - total_videos: 333 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Unford the yellow T-shirt sub_tasks: - Unford the yellow T-shirt - Unford the blue shorts @@ -63,7 +70,30 @@ sub_tasks: - Fold the red T-shirt - Fold the black sweatshirt - 'null' -annotations: +atomic_actions: +- grasp +- fold +- unfold +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -71,7 +101,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 111 + total_frames: 283265 + total_tasks: 1 + total_videos: 333 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 283265 +dataset_size: 17.4GB +data_structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -80,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -104,38 +171,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_fold_clothes + dataset_name: fold_clothes + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - fold + - unfold + tasks: Unford the yellow T-shirt + objects: *id001 + operation_platform_height: null + frame_range: 0-283265 + dataset_size: 17.4GB + statistics: *id002 + dataset_uuid: f4acf7a3-cf1f-4dbd-95da-0912a42be233 + language: *id003 + task_categories: *id004 + sub_tasks: + - Unford the yellow T-shirt + - Unford the blue shorts + - Fold the brown shorts + - Unford the black T-shirt + - Unfold the black sweatshirt + - Fold the black T-shirt + - Unford the red T-shirt + - End + - abnormal + - Unford the brown shorts + - Fold the white T-shirt + - Unford the white T-shirt + - Fold the yellow T-shirt + - Fold the blue shorts + - Fold the red T-shirt + - Fold the black sweatshirt + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_garbage_disposal.yaml b/dataset_info/R1_Lite_garbage_disposal.yaml index 024a4d5ba605d890f200f9a84245cfbe9c9868b2..c1aba6e96361d10b03826ce884c6ad336a15f5e3 100644 --- a/dataset_info/R1_Lite_garbage_disposal.yaml +++ b/dataset_info/R1_Lite_garbage_disposal.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_garbage_disposal +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: garbage_disposal -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the garbage -objects: +dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-70054 -dataset_size: 3.7GB -statistics: - total_episodes: 81 - total_frames: 70054 - total_tasks: 1 - total_videos: 243 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the garbage sub_tasks: - Pick up the garbage - abnromal - Put the garbage in the trash can - Hand it to the other hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 81 + total_frames: 70054 + total_tasks: 1 + total_videos: 243 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 70054 +dataset_size: 3.7GB +data_structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,38 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_garbage_disposal + dataset_name: garbage_disposal + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the garbage + objects: *id001 + operation_platform_height: null + frame_range: 0-70054 + dataset_size: 3.7GB + statistics: *id002 + dataset_uuid: 3c93f53a-ad7f-446d-ab74-686039cffcdf + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the garbage + - abnromal + - Put the garbage in the trash can + - Hand it to the other hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_hang_clothes.yaml b/dataset_info/R1_Lite_hang_clothes.yaml index ae5612040968a1bbae40ac4cfb40b0f9cee1d9d8..a9cda5e4bb960ef543a85564663c5724199289be 100644 --- a/dataset_info/R1_Lite_hang_clothes.yaml +++ b/dataset_info/R1_Lite_hang_clothes.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_hang_clothes +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hang_clothes -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the clothes rack on the clothesline with the right gripper -objects: +dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: clothesline level1: tool level2: clothesline @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-289827 -dataset_size: 22.8GB -statistics: - total_episodes: 109 - total_frames: 289827 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the clothes rack on the clothesline with the right gripper sub_tasks: - Pick up the clothes rack on the clothesline with the right gripper - Hang the clothes rack on the clothesline with the right gripper @@ -67,7 +74,30 @@ sub_tasks: - abnormal - Put clothes in the basket - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 109 + total_frames: 289827 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 289827 +dataset_size: 22.8GB +data_structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +148,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,38 +175,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_hang_clothes + dataset_name: hang_clothes + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the clothes rack on the clothesline with the right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-289827 + dataset_size: 22.8GB + statistics: *id002 + dataset_uuid: f7bbf41d-af0d-4f31-9158-8e7987fb7c9f + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the clothes rack on the clothesline with the right gripper + - Hang the clothes rack on the clothesline with the right gripper + - Take the clothes off the clothes rack with the right gripper + - End + - Hang the clothes on the clothes rack + - Put clothes in the basket with the left gripper + - Pick up the clothes rack on the clothesline + - Hang the clothes rack on the clothesline + - Pick up clothes from the basket + - Take the clothes off the clothes rack + - Hang the clothes on the clothes rack with both grippers + - Pick up clothes from the basket with the left gripper + - abnormal + - Put clothes in the basket + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_make_a_landline_call.yaml b/dataset_info/R1_Lite_make_a_landline_call.yaml index 3fe7b62ad14b217afad34221a9bd721bc59275a3..89816cfe7247d4ffc50e6d588439d933669dae5e 100644 --- a/dataset_info/R1_Lite_make_a_landline_call.yaml +++ b/dataset_info/R1_Lite_make_a_landline_call.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_make_a_landline_call +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_a_landline_call -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the desk phone handset -objects: +dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-86262 -dataset_size: 5.9GB -statistics: - total_episodes: 115 - total_frames: 86262 - total_tasks: 1 - total_videos: 345 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the desk phone handset sub_tasks: - Pick up the desk phone handset - End the call using the dial pad - Put the handset back - Dial the number - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 115 + total_frames: 86262 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 86262 +dataset_size: 5.9GB +data_structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,40 +154,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_make_a_landline_call + dataset_name: make_a_landline_call + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the desk phone handset + objects: *id001 + operation_platform_height: null + frame_range: 0-86262 + dataset_size: 5.9GB + statistics: *id002 + dataset_uuid: 0fc5b260-c949-49ab-8963-c0869de35749 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the desk phone handset + - End the call using the dial pad + - Put the handset back + - Dial the number + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_make_breakfast.yaml b/dataset_info/R1_Lite_make_breakfast.yaml index a8bc5a3e8a22b8103cee65f5656485421fcb3227..927c29c92e76b20bb350f8b9a062d95abaa4b345 100644 --- a/dataset_info/R1_Lite_make_breakfast.yaml +++ b/dataset_info/R1_Lite_make_breakfast.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_make_breakfast +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_breakfast -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Put the egg in the bowl -objects: +dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -64,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-105680 -dataset_size: 6.2GB -statistics: - total_episodes: 45 - total_frames: 105680 - total_tasks: 1 - total_videos: 135 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the egg in the bowl sub_tasks: - Put the egg in the bowl - Put the bread slices in the toaster @@ -94,7 +101,30 @@ sub_tasks: - Pick up the egg - Pick up the bread slice - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -102,7 +132,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 45 + total_frames: 105680 + total_tasks: 1 + total_videos: 135 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 105680 +dataset_size: 6.2GB +data_structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -111,13 +176,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -135,38 +203,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_make_breakfast + dataset_name: make_breakfast + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Put the egg in the bowl + objects: *id001 + operation_platform_height: null + frame_range: 0-105680 + dataset_size: 6.2GB + statistics: *id002 + dataset_uuid: 398b647f-5d05-4f3c-8367-2d7077c8c9fe + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the egg in the bowl + - Put the bread slices in the toaster + - Put the kettle back + - Pour water into a cup + - abnormal + - Put the baked bread on a plate + - Use a bread toaster + - Put the fruit on a plate + - Pick up the kettle + - Pick up the egg + - Pick up the bread slice + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_make_tea.yaml b/dataset_info/R1_Lite_make_tea.yaml index d55a15c1e0b151efab1e3dff868755f685bfc094..df78bd56c0944c4affc80ff5470e898bbdb65228 100644 --- a/dataset_info/R1_Lite_make_tea.yaml +++ b/dataset_info/R1_Lite_make_tea.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_make_tea +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_tea -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the tea bag into the desktop trash can -objects: +dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-162473 -dataset_size: 9.0GB -statistics: - total_episodes: 101 - total_frames: 162473 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the tea bag into the desktop trash can sub_tasks: - Place the tea bag into the desktop trash can - Place the tea bag into the desktop trash can with the left gripper @@ -87,7 +94,30 @@ sub_tasks: - Place the kettle on its original position with the right gripper - Place the tea bag into the desktop trash can with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -95,7 +125,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 101 + total_frames: 162473 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 162473 +dataset_size: 9.0GB +data_structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -104,13 +168,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -128,38 +195,132 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_make_tea + dataset_name: make_tea + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the tea bag into the desktop trash can + objects: *id001 + operation_platform_height: null + frame_range: 0-162473 + dataset_size: 9.0GB + statistics: *id002 + dataset_uuid: e07d0a2b-e02d-4bb2-867b-bf0afb55e958 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the tea bag into the desktop trash can + - Place the tea bag into the desktop trash can with the left gripper + - Place the kettle on its original position with the left gripper + - Hand it to the other hand + - Pour the water from the kettle into the cup with the left gripper + - "Place the tea bag in and out of the cup several times with the left gripper \uFEFF" + - Grasp the tea bag with the right gripper + - Lift the tea bag in and out of the cup several times + - End + - Pick up the kettle + - Hand it to the other gripper + - Abnormal + - Pick up the tea bag + - Place the tea bag in and out of the cup several times with the right gripper + - Place the kettle to its original position + - Pick up the kettle with the left gripper + - Pick up the kettle with the right gripper + - Grasp the tea bag with the left gripper + - Pour water from the kettle into the cup + - Pour the water from the kettle into the cup with the right gripper + - Place the kettle on its original position with the right gripper + - Place the tea bag into the desktop trash can with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_make_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_make_the_bed.yaml b/dataset_info/R1_Lite_make_the_bed.yaml index 57ac4a4659c64f8c685060c257ee85dd0174bc27..fa41f732df36963058361ef059f3ac9fcae72591 100644 --- a/dataset_info/R1_Lite_make_the_bed.yaml +++ b/dataset_info/R1_Lite_make_the_bed.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_make_the_bed +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: make_the_bed -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -tasks: Hold the folded corner of the quilt -objects: +dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: quilt level1: clothing level2: quilt @@ -23,30 +42,41 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-240837 -dataset_size: 6.0GB -statistics: - total_episodes: 100 - total_frames: 240837 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hold the folded corner of the quilt sub_tasks: - Hold the folded corner of the quilt - End - abnormal - Flatten the corners of the folded blanket - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 100 + total_frames: 240837 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 240837 +dataset_size: 6.0GB +data_structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,38 +154,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_make_the_bed + dataset_name: make_the_bed + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + tasks: Hold the folded corner of the quilt + objects: *id001 + operation_platform_height: null + frame_range: 0-240837 + dataset_size: 6.0GB + statistics: *id002 + dataset_uuid: ea93521a-043d-4af7-ac4e-5e26fa0d46ef + language: *id003 + task_categories: *id004 + sub_tasks: + - Hold the folded corner of the quilt + - End + - abnormal + - Flatten the corners of the folded blanket + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml index 9c3d7355e1f2aa33b7e4125fb447d2097ac5ac8a..36f7a43b69eed7d78204226502e5afb7b7406aa5 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_apple.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_apple +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_apple -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -274,23 +294,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-5959 -dataset_size: 223.0MB -statistics: - total_episodes: 35 - total_frames: 5959 - total_tasks: 1 - total_videos: 140 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the apple on the table with left gripper @@ -300,7 +307,30 @@ sub_tasks: - Static - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -308,7 +338,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 35 + total_frames: 5959 + total_tasks: 1 + total_videos: 140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 5959 +dataset_size: 223.0MB +data_structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -317,13 +385,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -341,46 +412,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_apple + dataset_name: move_the_position_of_the_apple + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-5959 + dataset_size: 223.0MB + statistics: *id002 + dataset_uuid: 9155fbd7-8bc2-44d0-a2dc-16b1fad44af0 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the apple on the table with left gripper + - Grasp the apple with left gripper + - Place the apple on the table with right gripper + - Grasp the apple with right gripper + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml index 0737fef2bab612291d9868683b08a79adfddc8e5..8c6093e0655d2bfdd335c14202cecebb43340643 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_black_marker.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_black_marker +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_black_marker -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the Marker pen with left gripper -objects: +dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-15618 -dataset_size: 536.6MB -statistics: - total_episodes: 61 - total_frames: 15618 - total_tasks: 1 - total_videos: 244 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the Marker pen with left gripper sub_tasks: - Grasp the Marker pen with left gripper - Grasp the Marker pen with right gripper @@ -293,7 +300,30 @@ sub_tasks: - End - Place the Marker pen on the table with left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 61 + total_frames: 15618 + total_tasks: 1 + total_videos: 244 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 15618 +dataset_size: 536.6MB +data_structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_black_marker + dataset_name: move_the_position_of_the_black_marker + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the Marker pen with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-15618 + dataset_size: 536.6MB + statistics: *id002 + dataset_uuid: 5d591692-f2ae-4fa8-97d1-9cd1613b1b33 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the Marker pen with left gripper + - Grasp the Marker pen with right gripper + - Place the Marker pen on the table with right gripper + - Static + - End + - Place the Marker pen on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml index ff7b8e22a0d337d0952b1eed71778ce578b81a6b..c613c54adad6627a7b963884bcd388f8f0c9b174 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_brush.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_brush +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_brush -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Static -objects: +dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-17774 -dataset_size: 677.0MB -statistics: - total_episodes: 63 - total_frames: 17774 - total_tasks: 1 - total_videos: 252 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Static sub_tasks: - Static - Place the brush on the table with right gripper @@ -294,7 +301,30 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 63 + total_frames: 17774 + total_tasks: 1 + total_videos: 252 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 17774 +dataset_size: 677.0MB +data_structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_brush + dataset_name: move_the_position_of_the_brush + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Static + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-17774 + dataset_size: 677.0MB + statistics: *id002 + dataset_uuid: 0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf + language: *id003 + task_categories: *id004 + sub_tasks: + - Static + - Place the brush on the table with right gripper + - Grasp the brush with right gripper + - Grasp the brush with left gripper + - Place the brush on the table with left gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml index 64c4c8d6e7455e841efb41d24b47f7c1a0c517d8..5623a1779e33e3a6ef4a48ecf76b88e4309f86a2 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_coffee_capsule.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_coffee_capsule +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_coffee_capsule -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-14334 -dataset_size: 500.1MB -statistics: - total_episodes: 58 - total_frames: 14334 - total_tasks: 1 - total_videos: 232 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the coffee capsule with left gripper @@ -293,7 +300,30 @@ sub_tasks: - Static - Place the coffee capsule on the table with left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 58 + total_frames: 14334 + total_tasks: 1 + total_videos: 232 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 14334 +dataset_size: 500.1MB +data_structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_coffee_capsule + dataset_name: move_the_position_of_the_coffee_capsule + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-14334 + dataset_size: 500.1MB + statistics: *id002 + dataset_uuid: b0f7658f-e170-4911-afdf-9af621bfa0fe + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the coffee capsule with left gripper + - Place the coffee capsule on the table with right gripper + - Grasp the coffee capsule with right gripper + - Static + - Place the coffee capsule on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml index 560fff3cbc2e7c319ee2a2e21b1260eb7ec95b8d..df8ebe36278a4926a82e25545bcadcffbf3e581e 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_cookie.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_cookie +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_cookie -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Place the cookie on the table with right gripper -objects: +dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-5045 -dataset_size: 198.3MB -statistics: - total_episodes: 25 - total_frames: 5045 - total_tasks: 1 - total_videos: 100 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the cookie on the table with right gripper sub_tasks: - Place the cookie on the table with right gripper - Static @@ -294,7 +301,30 @@ sub_tasks: - Grasp the cookie with left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 25 + total_frames: 5045 + total_tasks: 1 + total_videos: 100 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 5045 +dataset_size: 198.3MB +data_structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_cookie + dataset_name: move_the_position_of_the_cookie + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Place the cookie on the table with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-5045 + dataset_size: 198.3MB + statistics: *id002 + dataset_uuid: 7015670f-e702-4c08-a662-e74aee0c0872 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the cookie on the table with right gripper + - Static + - Place the cookie on the table with left gripper + - End + - Grasp the cookie with right gripper + - Grasp the cookie with left gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml index 4607fdf85f284db507b72627623d76f783d6c633..ce2b71837443354e096031c3cd356e15e59a9560 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_duck.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_duck +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_duck -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the red duck with right gripper -objects: +dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12223 -dataset_size: 348.2MB -statistics: - total_episodes: 40 - total_frames: 12223 - total_tasks: 1 - total_videos: 160 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the red duck with right gripper sub_tasks: - Grasp the red duck with right gripper - Static @@ -294,7 +301,30 @@ sub_tasks: - Place the red duck on the table with left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 40 + total_frames: 12223 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12223 +dataset_size: 348.2MB +data_structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_duck + dataset_name: move_the_position_of_the_duck + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the red duck with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12223 + dataset_size: 348.2MB + statistics: *id002 + dataset_uuid: da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the red duck with right gripper + - Static + - Place the red duck on the table with right gripper + - Grasp the red duck with left gripper + - End + - Place the red duck on the table with left gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml index e45158a31d5058ca74ad6647eb61e6fab8524456..923679f773d2ea8ddf0bb27a73aed3e68a91a4db 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_glass.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_glass +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_glass -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the glasses case with left gripper -objects: +dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12480 -dataset_size: 423.9MB -statistics: - total_episodes: 36 - total_frames: 12480 - total_tasks: 1 - total_videos: 144 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the glasses case with left gripper sub_tasks: - Grasp the glasses case with left gripper - Abnormal @@ -294,7 +301,30 @@ sub_tasks: - Place the glasses case on the table with left gripper - End - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 36 + total_frames: 12480 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12480 +dataset_size: 423.9MB +data_structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_glass + dataset_name: move_the_position_of_the_glass + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the glasses case with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12480 + dataset_size: 423.9MB + statistics: *id002 + dataset_uuid: 8ac8771b-807d-43fe-ad24-200934007490 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the glasses case with left gripper + - Abnormal + - Grasp the glasses case with right gripper + - Place the glasses case on the table with right gripper + - Static + - Place the glasses case on the table with left gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_glass_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml index 203fd67b68229d7ade6f4f1d1d154b71a09736b2..3c1a988867fa818d009a98d336a58ec3cb40694d 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_long_bread.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_long_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_long_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the long bread with right gripper -objects: +dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9249 -dataset_size: 344.7MB -statistics: - total_episodes: 31 - total_frames: 9249 - total_tasks: 1 - total_videos: 124 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the long bread with right gripper sub_tasks: - Grasp the long bread with right gripper - Grasp the long bread with left gripper @@ -294,7 +301,30 @@ sub_tasks: - Static - End - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 31 + total_frames: 9249 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9249 +dataset_size: 344.7MB +data_structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_long_bread + dataset_name: move_the_position_of_the_long_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the long bread with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9249 + dataset_size: 344.7MB + statistics: *id002 + dataset_uuid: bdee9310-93d0-4808-a0ad-4ca01b25ac9f + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the long bread with right gripper + - Grasp the long bread with left gripper + - Place the long bread on the table with right gripper + - Place the long bread on the table with left gripper + - Abnormal + - Static + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml index b6be5f6ac57eecab0b77ffdde1ab6aa565d8b576..c90fe90b10c1aa926979d7fe0327b27867d967a9 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_milk.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_milk +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_milk -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the wangzai milk with left gripper -objects: +dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-12898 -dataset_size: 421.8MB -statistics: - total_episodes: 59 - total_frames: 12898 - total_tasks: 1 - total_videos: 236 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the wangzai milk with left gripper sub_tasks: - Grasp the wangzai milk with left gripper - Place the wangzai milk on the table with right gripper @@ -294,7 +301,30 @@ sub_tasks: - End - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 59 + total_frames: 12898 + total_tasks: 1 + total_videos: 236 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 12898 +dataset_size: 421.8MB +data_structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_milk + dataset_name: move_the_position_of_the_milk + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the wangzai milk with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-12898 + dataset_size: 421.8MB + statistics: *id002 + dataset_uuid: 945013f7-9a63-4c59-af10-4ad4df23d67f + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the wangzai milk with left gripper + - Place the wangzai milk on the table with right gripper + - Static + - Place the wangzai milk on the table with left gripper + - Grasp the wangzai milk with right gripper + - End + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml index 1764d2b59bcf5463eb5c9e9306a1364a052ef35a..e11517c606d0c309ab1d93cf180f490904c50e9f 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_orange.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_orange +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_orange -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-15074 -dataset_size: 550.2MB -statistics: - total_episodes: 42 - total_frames: 15074 - total_tasks: 1 - total_videos: 168 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the orange on the table with right gripper @@ -293,7 +300,30 @@ sub_tasks: - Grasp the orange with left gripper - Static - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 42 + total_frames: 15074 + total_tasks: 1 + total_videos: 168 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 15074 +dataset_size: 550.2MB +data_structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_orange + dataset_name: move_the_position_of_the_orange + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-15074 + dataset_size: 550.2MB + statistics: *id002 + dataset_uuid: 5cff8c7f-bc80-41be-87f4-5cc1b132ed1c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the orange on the table with right gripper + - Grasp the orange with right gripper + - Place the orange on the table with left gripper + - Grasp the orange with left gripper + - Static + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml index 0a07f80590e5f983f418bb49c91bb46d63483020..a1d3ce4f104f829a76d384d57829f5c650784d94 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_peeler.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_peeler +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_peeler -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the peeler with right gripper -objects: +dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-10477 -dataset_size: 369.6MB -statistics: - total_episodes: 43 - total_frames: 10477 - total_tasks: 1 - total_videos: 172 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the peeler with right gripper sub_tasks: - Grasp the peeler with right gripper - Static @@ -293,7 +300,30 @@ sub_tasks: - Place the peeler on the table with right gripper - Place the peeler on the table with left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 43 + total_frames: 10477 + total_tasks: 1 + total_videos: 172 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 10477 +dataset_size: 369.6MB +data_structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_peeler + dataset_name: move_the_position_of_the_peeler + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the peeler with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-10477 + dataset_size: 369.6MB + statistics: *id002 + dataset_uuid: 32cc9e19-b5a0-4f09-a124-2f042003a5ed + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the peeler with right gripper + - Static + - Grasp the peeler with left gripper + - End + - Place the peeler on the table with right gripper + - Place the peeler on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml index e192f4823a87535fca8c4835bc5735a710640de9..9530a2ca1023817dca2d9d098efe0c462f1d11ed 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_pen.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_pen +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_pen -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-11495 -dataset_size: 362.3MB -statistics: - total_episodes: 31 - total_frames: 11495 - total_tasks: 1 - total_videos: 124 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the sign pen on the table with right gripper @@ -294,7 +301,30 @@ sub_tasks: - Static - Abnormal - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -302,7 +332,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 31 + total_frames: 11495 + total_tasks: 1 + total_videos: 124 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 11495 +dataset_size: 362.3MB +data_structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -311,13 +379,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -335,46 +406,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_pen + dataset_name: move_the_position_of_the_pen + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-11495 + dataset_size: 362.3MB + statistics: *id002 + dataset_uuid: e974fb54-b565-4fa5-989e-a0c551c6d140 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the sign pen on the table with right gripper + - Grasp the sign pen with left gripper + - Place the sign pen on the table with left gripper + - Grasp the sign pen with right gripper + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_pen_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml index cd65f176f9c946703b53ca3ce1eae2de58bad752..eb32fe04b8005d80446a2c50d6d9620e7da86e8b 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_rubiks_cube.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_rubiks_cube +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_rubiks_cube -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-9055 -dataset_size: 328.4MB -statistics: - total_episodes: 44 - total_frames: 9055 - total_tasks: 1 - total_videos: 176 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the magic cube on the table with right gripper @@ -293,7 +300,30 @@ sub_tasks: - Grasp the magic cube with left gripper - Grasp the magic cube with right gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 44 + total_frames: 9055 + total_tasks: 1 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 9055 +dataset_size: 328.4MB +data_structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_rubiks_cube + dataset_name: move_the_position_of_the_rubiks_cube + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-9055 + dataset_size: 328.4MB + statistics: *id002 + dataset_uuid: fe0a75c5-bab5-4e43-9502-081da6770b61 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the magic cube on the table with right gripper + - Place the magic cube on the table with left gripper + - Static + - Grasp the magic cube with left gripper + - Grasp the magic cube with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_rubiks_cube_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml index 2f9df4d0f6c62c4c2f75c7d24b455f12b5819085..053a90b66cbe41dc7ce43a50e4bc592e2e738bc1 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_soda.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_soda +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_soda -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: End -objects: +dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-17198 -dataset_size: 661.0MB -statistics: - total_episodes: 62 - total_frames: 17198 - total_tasks: 1 - total_videos: 248 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the soda water with right gripper @@ -293,7 +300,30 @@ sub_tasks: - Static - Grasp the soda water with left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 62 + total_frames: 17198 + total_tasks: 1 + total_videos: 248 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 17198 +dataset_size: 661.0MB +data_structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_soda + dataset_name: move_the_position_of_the_soda + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-17198 + dataset_size: 661.0MB + statistics: *id002 + dataset_uuid: 776f8ed0-31b4-46e5-adbd-d905da18638c + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the soda water with right gripper + - Place the soda water on the table with right gripper + - Place the soda water on the table with left gripper + - Static + - Grasp the soda water with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml index 9160231c2698f43707da44339f8c3588aa0949d8..d7b76261d230aad523a21999f8d38d054a4cc1bd 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_spoon.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_spoon +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_spoon -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the spoon with right gripper -objects: +dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -268,23 +288,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-6550 -dataset_size: 212.3MB -statistics: - total_episodes: 23 - total_frames: 6550 - total_tasks: 1 - total_videos: 92 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the spoon with right gripper sub_tasks: - Grasp the spoon with right gripper - Grasp the spoon with left gripper @@ -293,7 +300,30 @@ sub_tasks: - End - Place the spoon on the table with right gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -301,7 +331,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 23 + total_frames: 6550 + total_tasks: 1 + total_videos: 92 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 6550 +dataset_size: 212.3MB +data_structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -310,13 +378,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -334,46 +405,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_spoon + dataset_name: move_the_position_of_the_spoon + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the spoon with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-6550 + dataset_size: 212.3MB + statistics: *id002 + dataset_uuid: ab8d31a7-973b-4328-b3dc-f79488af764f + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the spoon with right gripper + - Grasp the spoon with left gripper + - Place the spoon on the table with left gripper + - Static + - End + - Place the spoon on the table with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml index 230203031b93bd8480fe6013be9af1ed4f196787..2b204249732df1e3ddd694ea25e32d154ac50409 100644 --- a/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml +++ b/dataset_info/R1_Lite_move_the_position_of_the_triangle_bread.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_move_the_position_of_the_triangle_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_position_of_the_triangle_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -tasks: Grasp the pizza with right gripper -objects: +dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -280,23 +300,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-8540 -dataset_size: 300.1MB -statistics: - total_episodes: 40 - total_frames: 8540 - total_tasks: 1 - total_videos: 160 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the pizza with right gripper sub_tasks: - Grasp the pizza with right gripper - Static @@ -305,7 +312,30 @@ sub_tasks: - Grasp the pizza with left gripper - Place the pizza on the table with left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -313,7 +343,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 40 + total_frames: 8540 + total_tasks: 1 + total_videos: 160 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8540 +dataset_size: 300.1MB +data_structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -322,13 +390,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -346,46 +417,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_move_the_position_of_the_triangle_bread + dataset_name: move_the_position_of_the_triangle_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + tasks: Grasp the pizza with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-8540 + dataset_size: 300.1MB + statistics: *id002 + dataset_uuid: f60ef2d6-fc04-4276-b75e-e8b54ab7602c + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the pizza with right gripper + - Static + - Place the pizza on the table with right gripper + - End + - Grasp the pizza with left gripper + - Place the pizza on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/R1_Lite_open_and_close_curtains.yaml b/dataset_info/R1_Lite_open_and_close_curtains.yaml index bb8cdd9778ca3491c58d2ce44b4bcf18fabfa3f6..eb8adcef8da6355dab8f8e3ab30681f00619a208 100644 --- a/dataset_info/R1_Lite_open_and_close_curtains.yaml +++ b/dataset_info/R1_Lite_open_and_close_curtains.yaml @@ -1,38 +1,45 @@ -path: R1_Lite_open_and_close_curtains +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_and_close_curtains -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pull the outeouter curtains open on both sides with the both gripper -objects: +dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: curtains level1: clothing level2: curtains level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-226694 -dataset_size: 8.5GB -statistics: - total_episodes: 98 - total_frames: 226694 - total_tasks: 1 - total_videos: 294 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pull the outeouter curtains open on both sides with the both gripper sub_tasks: - Pull the outeouter curtains open on both sides with the both gripper - Pull the outer curtains open on both sides @@ -47,7 +54,30 @@ sub_tasks: - Close the inner curtains on both sides - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 98 + total_frames: 226694 + total_tasks: 1 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 226694 +dataset_size: 8.5GB +data_structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,40 +156,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_and_close_curtains + dataset_name: open_and_close_curtains + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pull the outeouter curtains open on both sides with the both gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-226694 + dataset_size: 8.5GB + statistics: *id002 + dataset_uuid: 184bad58-5213-4be2-bb93-7c6d271bf034 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pull the outeouter curtains open on both sides with the both gripper + - Pull the outer curtains open on both sides + - End + - Pull the inner curtains open on both sides + - Close the outer curtains on both sides + - Pull the inner curtains open on left sides with the left gripper + - Close the right inner curtain with the right gripper + - Pull the inner curtains open on right sides with the right gripper + - Close the left inner curtain with the left gripper + - Close the outeouter curtains on both sides with the both gripper + - Close the inner curtains on both sides + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml index c9467ae79196f6a02c7e63298a7cc56e09017470..9eee4f3146405f746a337ee3cf4b5776339cb419 100644 --- a/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml +++ b/dataset_info/R1_Lite_open_and_close_microwave_oven.yaml @@ -1,18 +1,35 @@ -path: R1_Lite_open_and_close_microwave_oven +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_and_close_microwave_oven -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- push -- pull -- pressbutton -tasks: Put the microwave back in its original place -objects: +dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: french_fries level1: food level2: french_fries @@ -31,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-183612 -dataset_size: 7.7GB -statistics: - total_episodes: 117 - total_frames: 183612 - total_tasks: 1 - total_videos: 351 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the microwave back in its original place sub_tasks: - Put the microwave back in its original place - Take the plate out of the microwave @@ -55,7 +59,33 @@ sub_tasks: - Open the microwave oven - Put the plate in the microwave oven - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- push +- pull +- pressbutton +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 117 + total_frames: 183612 + total_tasks: 1 + total_videos: 351 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 183612 +dataset_size: 7.7GB +data_structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_and_close_microwave_oven + dataset_name: open_and_close_microwave_oven + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - push + - pull + - pressbutton + tasks: Put the microwave back in its original place + objects: *id001 + operation_platform_height: null + frame_range: 0-183612 + dataset_size: 7.7GB + statistics: *id002 + dataset_uuid: 1b797b37-4aab-43be-9f02-cfcf030be8ff + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the microwave back in its original place + - Take the plate out of the microwave + - Close the microwave oven + - Open the microwave oven + - Put the plate in the microwave oven + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml index fb230050bc7f471059ca9e82b1da9a175e7f12b2..0b229ab8f0b37307fd07d1f22056fcc0fa448ef6 100644 --- a/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml +++ b/dataset_info/R1_Lite_open_and_close_nightstand_door.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_open_and_close_nightstand_door +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_and_close_nightstand_door -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- push -tasks: Place the green doll on the lower shelf -objects: +dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: nightstand level1: furniture level2: nightstand @@ -53,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-274445 -dataset_size: 11.8GB -statistics: - total_episodes: 100 - total_frames: 274445 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the green doll on the lower shelf sub_tasks: - Place the green doll on the lower shelf - Close the nightstand door @@ -88,7 +94,31 @@ sub_tasks: - Place the pink doll on the lower shelf - Place the pink doll on the higher shelf - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -96,7 +126,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 100 + total_frames: 274445 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 274445 +dataset_size: 11.8GB +data_structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -105,13 +170,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -129,40 +197,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_and_close_nightstand_door + dataset_name: open_and_close_nightstand_door + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - push + tasks: Place the green doll on the lower shelf + objects: *id001 + operation_platform_height: null + frame_range: 0-274445 + dataset_size: 11.8GB + statistics: *id002 + dataset_uuid: 20a3b9fb-6772-4fbe-b39d-00e54dfb1b57 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the green doll on the lower shelf + - Close the nightstand door + - Place the basket on the lower shelf + - Place the pillow on the higher shelf + - Place the blue doll on the higher shelf + - End + - Place the pillow on the lower shelf + - Place the blue doll on the lower shelf + - abnormal + - Place the bag on the lower shelf + - Place the bag on the higher shelf + - Open the nightstand door + - Place the basket on the higher shelf + - Place the green doll on the higher shelf + - Place the pink doll on the lower shelf + - Place the pink doll on the higher shelf + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_and_close_nightstand_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml index 183f7fdff0d72ef254855893a4f29fd1f7f0cdc0..37055bbc55f247b840fe5c7e19d1ae1987b1fc50 100644 --- a/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml +++ b/dataset_info/R1_Lite_open_and_close_nightstand_drawer.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_open_and_close_nightstand_drawer +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_and_close_nightstand_drawer -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- push -tasks: Open the nightstand drawer -objects: +dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: nightstand level1: furniture level2: nightstand @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-104258 -dataset_size: 7.1GB -statistics: - total_episodes: 77 - total_frames: 104258 - total_tasks: 1 - total_videos: 231 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Open the nightstand drawer sub_tasks: - Open the nightstand drawer - Put the remote controls on the table in the drawer one by one @@ -54,7 +60,31 @@ sub_tasks: - Close the nightstand drawer - Put the tissue on the table in the drawer one by one - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 77 + total_frames: 104258 + total_tasks: 1 + total_videos: 231 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 104258 +dataset_size: 7.1GB +data_structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_and_close_nightstand_drawer + dataset_name: open_and_close_nightstand_drawer + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - push + tasks: Open the nightstand drawer + objects: *id001 + operation_platform_height: null + frame_range: 0-104258 + dataset_size: 7.1GB + statistics: *id002 + dataset_uuid: f53ef972-f453-4892-bf9c-cd8d3c22762e + language: *id003 + task_categories: *id004 + sub_tasks: + - Open the nightstand drawer + - Put the remote controls on the table in the drawer one by one + - Take the remote control out of the drawer one by one and place them on the table + - Take the tissue out of the drawer one by one and place them on the table + - Close the nightstand drawer + - Put the tissue on the table in the drawer one by one + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_and_close_nightstand_drawer_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml index 9bc816e5c7147c9a0170d7cd60fc47e04ab060ed..b85208f8f084ca62257440814c74a06e9ca9f400 100644 --- a/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml +++ b/dataset_info/R1_Lite_open_and_close_the_freezer_door.yaml @@ -1,16 +1,35 @@ -path: R1_Lite_open_and_close_the_freezer_door +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_and_close_the_freezer_door -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -tasks: Abnormal -objects: +dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: freezer level1: furniture level2: freezer @@ -41,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-170369 -dataset_size: 6.6GB -statistics: - total_episodes: 93 - total_frames: 170369 - total_tasks: 1 - total_videos: 279 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - End @@ -78,7 +84,31 @@ sub_tasks: - Place the yogurt on the table - Take the yoghurt out of the freezer - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -86,7 +116,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 93 + total_frames: 170369 + total_tasks: 1 + total_videos: 279 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 170369 +dataset_size: 6.6GB +data_structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -95,13 +160,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -119,40 +187,129 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_and_close_the_freezer_door + dataset_name: open_and_close_the_freezer_door + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + tasks: Abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-170369 + dataset_size: 6.6GB + statistics: *id002 + dataset_uuid: d59cd2ec-8eab-40f4-a630-29a9bbc3f309 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - End + - Place the ceramic cup on the table + - Put the yoghurt in the freezer + - Take the paper cup out of the freezer + - Place the yoghurt on the table + - Take the ceramic cup out of the freezer + - Put the ceramic cup in the freezer + - Take the yogurt out of the freezer + - Open the freezer door + - Put the paper cup in the freezer + - Put the yogurt in the freezer + - Place the paper cup on the table + - Close the freezer door + - Grasp the yogur + - Place the yoghurt on the freezer + - Place the yogurt on the table + - Take the yoghurt out of the freezer + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_open_the_food_pan.yaml b/dataset_info/R1_Lite_open_the_food_pan.yaml index 29a333a8e2b5220616e860e2b18a2e5e67336733..1112768f23cfdd560019926a5f8f6d9dbb858adc 100644 --- a/dataset_info/R1_Lite_open_the_food_pan.yaml +++ b/dataset_info/R1_Lite_open_the_food_pan.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_open_the_food_pan +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: open_the_food_pan -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hold the pot lid with the right arm -objects: +dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-74981 -dataset_size: 2.6GB -statistics: - total_episodes: 94 - total_frames: 74981 - total_tasks: 1 - total_videos: 282 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hold the pot lid with the right arm sub_tasks: - Hold the pot lid with the right arm - Close the pot lid @@ -47,7 +54,30 @@ sub_tasks: - Open the food pot lid a small opening with the right arm - Open the food pot lid a small opening with the left arm - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 94 + total_frames: 74981 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 74981 +dataset_size: 2.6GB +data_structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,39 +156,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_open_the_food_pan + dataset_name: open_the_food_pan + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hold the pot lid with the right arm + objects: *id001 + operation_platform_height: null + frame_range: 0-74981 + dataset_size: 2.6GB + statistics: *id002 + dataset_uuid: 41f586d5-51f7-456a-b30f-ca5a7e7555c2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hold the pot lid with the right arm + - Close the pot lid + - Open the pot lid completely + - Hold the pot lid with the left arm + - Open the food pot lid a small opening with the right arm + - Open the food pot lid a small opening with the left arm + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_open_the_food_pan_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml index 3a9d9fb9dcd873eda5b7c7f6cb690f92b63425ea..c8faed544a3a25c45c34a26d24c5c2ea2f02af46 100644 --- a/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml +++ b/dataset_info/R1_Lite_opening_and_closing_aalcony_sliding_doors.yaml @@ -1,43 +1,73 @@ -path: R1_Lite_opening_and_closing_aalcony_sliding_doors +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: opening_and_closing_aalcony_sliding_doors -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- push -- pull -tasks: Close the slid door -objects: +dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: sliding_door level1: furniture level2: sliding_door level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-133637 -dataset_size: 6.9GB -statistics: - total_episodes: 101 - total_frames: 133637 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Close the slid door sub_tasks: - Close the slid door - Open the slid door - 'null' -annotations: +atomic_actions: +- grasp +- push +- pull +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -45,7 +75,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 101 + total_frames: 133637 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 133637 +dataset_size: 6.9GB +data_structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -54,13 +119,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -78,40 +146,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_opening_and_closing_aalcony_sliding_doors + dataset_name: opening_and_closing_aalcony_sliding_doors + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - push + - pull + tasks: Close the slid door + objects: *id001 + operation_platform_height: null + frame_range: 0-133637 + dataset_size: 6.9GB + statistics: *id002 + dataset_uuid: 4d71497e-4f98-487e-8f46-e2a076016680 + language: *id003 + task_categories: *id004 + sub_tasks: + - Close the slid door + - Open the slid door + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_peach_storage.yaml b/dataset_info/R1_Lite_peach_storage.yaml index d9294341bc147c795112330d6b2fbe1366f34e3a..8632816baf45b64947654bfeb76657141f7bca64 100644 --- a/dataset_info/R1_Lite_peach_storage.yaml +++ b/dataset_info/R1_Lite_peach_storage.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_peach_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: peach_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-31755 -dataset_size: 1.5GB -statistics: - total_episodes: 110 - total_frames: 31755 - total_tasks: 1 - total_videos: 440 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the light basket on the middle of the table with the left gripper @@ -53,7 +60,30 @@ sub_tasks: - Grasp the peach with the right gripper - Place the peach into the light basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,44 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 110 + total_frames: 31755 + total_tasks: 1 + total_videos: 440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 31755 +dataset_size: 1.5GB +data_structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,44 +164,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_peach_storage + dataset_name: peach_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-31755 + dataset_size: 1.5GB + statistics: *id002 + dataset_uuid: e596c797-57d3-4fbb-ba99-5dec78a4c0b2 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the light basket on the middle of the table with the left gripper + - Grasp the light basket with the left gripper + - Static + - Grasp the peach with the right gripper + - Place the peach into the light basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_pick_up_and_store_items.yaml b/dataset_info/R1_Lite_pick_up_and_store_items.yaml index d814d5fec299032241793806ed8d55b9727d8ca8..ea736449b98a5b07e0565526ab3062c80c4de1f5 100644 --- a/dataset_info/R1_Lite_pick_up_and_store_items.yaml +++ b/dataset_info/R1_Lite_pick_up_and_store_items.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_pick_up_and_store_items +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pick_up_and_store_items -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -- push -tasks: Place the tissue on the table -objects: +dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: drawer level1: container level2: drawer @@ -66,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-125588 -dataset_size: 5.8GB -statistics: - total_episodes: 108 - total_frames: 125588 - total_tasks: 1 - total_videos: 324 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the tissue on the table sub_tasks: - Place the tissue on the table - Place the disposable slippers on the table @@ -125,7 +130,32 @@ sub_tasks: - Pick up the roll paper on the table - Put the roll paper in the drawer - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -133,7 +163,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 108 + total_frames: 125588 + total_tasks: 1 + total_videos: 324 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 125588 +dataset_size: 5.8GB +data_structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -142,13 +207,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -166,40 +234,152 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_pick_up_and_store_items + dataset_name: pick_up_and_store_items + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + - push + tasks: Place the tissue on the table + objects: *id001 + operation_platform_height: null + frame_range: 0-125588 + dataset_size: 5.8GB + statistics: *id002 + dataset_uuid: ce4cb36f-2a3e-45e1-80b7-e559203fb5c3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the tissue on the table + - Place the disposable slippers on the table + - Take out the tissue from the drawer + - Put the slippers in the drawer + - Take out the mineral water from the drawer + - Open the drawer with the both gripper + - Place the roll paper on the table + - Place the shorts on the table + - Place the adhesive tape on the table + - Take out the disposable slippers from the drawer + - Place the solid drinks on the table + - Take out the adhesive tape from the drawer + - Put the shorts in the drawer + - Close the drawer with the both gripper + - End + - Pick up the tissue on the table + - Put the tissue in the drawer + - Take out the shorts from the drawer + - Pick up the T-shirt on the table + - Take out the solid drinks from the drawer + - Pick up the mineral water on the table + - Put the mineral water in the drawer + - Pick up the adhesive tape on the table + - Take out the roll paper from the drawer + - Close the drawer + - Open the drawer + - Take out the T-shirt from the drawer + - Put the disposable slippers in the drawer + - Put the adhesive tape in the drawer + - Take the paper out of the drawer and put it on the table + - Put the solid drinks in the drawer + - Place the mineral water on the table + - Put the T-shirt in the drawer + - abnormal + - Place the T-shirt on the table + - Pick up the solid drinks on the table + - Pick up the disposable slippers on the table + - Pick up the shorts on the table + - Pick up the roll paper on the table + - Put the roll paper in the drawer + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml index 78fd7800eb8a8970d7029f35840f84b8b3aeefc6..adf244b190cc0e8a29546ecf36b7c425fb324bd5 100644 --- a/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml +++ b/dataset_info/R1_Lite_place_the_dress_shirt_on_the_hanger.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_place_the_dress_shirt_on_the_hanger +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_dress_shirt_on_the_hanger -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: abnormal -objects: +dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: hanger level1: furniture level2: hanger @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-120516 -dataset_size: 7.1GB -statistics: - total_episodes: 103 - total_frames: 120516 - total_tasks: 1 - total_videos: 309 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: abnormal sub_tasks: - abnormal - Hook the other side of the shirt onto the hanger @@ -59,7 +66,30 @@ sub_tasks: - Take the clothes hanger out of the clothes - Place the hanger on the bed - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 103 + total_frames: 120516 + total_tasks: 1 + total_videos: 309 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 120516 +dataset_size: 7.1GB +data_structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +141,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,40 +168,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_place_the_dress_shirt_on_the_hanger + dataset_name: place_the_dress_shirt_on_the_hanger + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-120516 + dataset_size: 7.1GB + statistics: *id002 + dataset_uuid: 99bbe00a-c986-419f-b64a-51eef829a3b8 + language: *id003 + task_categories: *id004 + sub_tasks: + - abnormal + - Hook the other side of the shirt onto the hanger + - Hook one side of the shirt onto the hanger + - Lift the shirt and hanger + - Take the clothes hanger out of the clothes + - Place the hanger on the bed + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_plug_the_socket.yaml b/dataset_info/R1_Lite_plug_the_socket.yaml index 86ed4a61c5ec71a803ce6d4933b1a3ef7316ff19..d471e7e40bccea96f5c335e97550c1c0a8a511e3 100644 --- a/dataset_info/R1_Lite_plug_the_socket.yaml +++ b/dataset_info/R1_Lite_plug_the_socket.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_plug_the_socket +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plug_the_socket -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hold the socket with your right hand and unplug it with your left hand -objects: +dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-115158 -dataset_size: 5.1GB -statistics: - total_episodes: 96 - total_frames: 115158 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hold the socket with your right hand and unplug it with your left + hand sub_tasks: - Hold the socket with your right hand and unplug it with your left hand - abnormal @@ -59,7 +67,30 @@ sub_tasks: - Insert the plug into the socket - Hold the socket with your left hand and unplug it with your right hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 96 + total_frames: 115158 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 115158 +dataset_size: 5.1GB +data_structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,38 +169,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_plug_the_socket + dataset_name: plug_the_socket + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hold the socket with your right hand and unplug it with your left hand + objects: *id001 + operation_platform_height: null + frame_range: 0-115158 + dataset_size: 5.1GB + statistics: *id002 + dataset_uuid: a456ff6a-8652-485b-a545-1bbcee60a201 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hold the socket with your right hand and unplug it with your left hand + - abnormal + - Pick up the mosquito repellent liquid + - Place the mosquito repellent liquid on the table + - Insert the plug into the socket + - Hold the socket with your left hand and unplug it with your right hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_pour_water.yaml b/dataset_info/R1_Lite_pour_water.yaml index 0ba5838f71ab53877e4a7a808939830a5e60256b..32f2ef40d7272450a26dd2f328c9b7917694abed 100644 --- a/dataset_info/R1_Lite_pour_water.yaml +++ b/dataset_info/R1_Lite_pour_water.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_pour_water +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_water -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pour water into the cup -objects: +dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-53125 -dataset_size: 2.0GB -statistics: - total_episodes: 51 - total_frames: 53125 - total_tasks: 1 - total_videos: 153 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pour water into the cup sub_tasks: - Pour water into the cup - Put the cup down on the table @@ -59,7 +66,30 @@ sub_tasks: - Pick up the cup - Pick up the kettle - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 51 + total_frames: 53125 + total_tasks: 1 + total_videos: 153 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 53125 +dataset_size: 2.0GB +data_structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,38 +167,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_pour_water + dataset_name: pour_water + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pour water into the cup + objects: *id001 + operation_platform_height: null + frame_range: 0-53125 + dataset_size: 2.0GB + statistics: *id002 + dataset_uuid: 8b05bffb-745b-4de7-bbfa-113e42018671 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pour water into the cup + - Put the cup down on the table + - Put down the kettle on the table + - Pour water into another cup + - Pick up the cup + - Pick up the kettle + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml index ebc03e3e59784b4394e20ffb50ec30af2a08f6b8..f0a91ae4214826013152bb809c6491d7c2cbffff 100644 --- a/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml +++ b/dataset_info/R1_Lite_put_on_a_garbage_bag.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_put_on_a_garbage_bag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_on_a_garbage_bag -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Abnormal -objects: +dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: trash_bag level1: container level2: trash_bag @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-252689 -dataset_size: 11.0GB -statistics: - total_episodes: 133 - total_frames: 252689 - total_tasks: 1 - total_videos: 399 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Abnormal sub_tasks: - Abnormal - End @@ -60,7 +67,30 @@ sub_tasks: - Place the trash can ring on the trash can - Place the trash bag on the floor - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 133 + total_frames: 252689 + total_tasks: 1 + total_videos: 399 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 252689 +dataset_size: 11.0GB +data_structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,40 +169,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_put_on_a_garbage_bag + dataset_name: put_on_a_garbage_bag + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Abnormal + objects: *id001 + operation_platform_height: null + frame_range: 0-252689 + dataset_size: 11.0GB + statistics: *id002 + dataset_uuid: c689a888-c8c9-4a05-a250-680b40218803 + language: *id003 + task_categories: *id004 + sub_tasks: + - Abnormal + - End + - Grasp a new trash bag with the right gripper + - put the new garbage bag on the trash can + - Place the trash can ring on the trash can with the right gripper + - Pick up the trash bag + - Grasp the trash bag with the right gripper + - place the trash can ring on the floor with right gripper + - Place the trash bag on the floor with the right gripper + - Place the trash can ring on the floor + - Pick up a new trash bag + - Place the trash can ring on the trash can + - Place the trash bag on the floor + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml index 72804b49b7bb8a87e3549a242b03d8449bf6d405..b2a3778a85647a4d7d76492b98c14e35fb4be9d2 100644 --- a/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml +++ b/dataset_info/R1_Lite_put_slippers_into_floor_standing_shoe_cabinet.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_put_slippers_into_floor_standing_shoe_cabinet +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_slippers_into_floor_standing_shoe_cabinet -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the slippers in the shoe cabinet -objects: +dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: shoe_cabinet level1: furniture level2: shoe_cabinet @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-183363 -dataset_size: 11.6GB -statistics: - total_episodes: 107 - total_frames: 183363 - total_tasks: 1 - total_videos: 321 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the slippers in the shoe cabinet sub_tasks: - Pick up the slippers in the shoe cabinet - Place the slippers into the shoe cabinet - Pick up the slippers on the floor - Place the slippers on the floor - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 107 + total_frames: 183363 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 183363 +dataset_size: 11.6GB +data_structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,40 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_put_slippers_into_floor_standing_shoe_cabinet + dataset_name: put_slippers_into_floor_standing_shoe_cabinet + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the slippers in the shoe cabinet + objects: *id001 + operation_platform_height: null + frame_range: 0-183363 + dataset_size: 11.6GB + statistics: *id002 + dataset_uuid: 3a43ccf0-8e1e-4bba-9a30-6a9a8bcefc6f + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the slippers in the shoe cabinet + - Place the slippers into the shoe cabinet + - Pick up the slippers on the floor + - Place the slippers on the floor + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_put_slippers_into_floor_standing_shoe_cabinet_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml index ae35dc746c5c2db1ad9cb69567def57c0679d3fe..2e936e508c1226868374cf55f83896dca05da058 100644 --- a/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml +++ b/dataset_info/R1_Lite_put_the_pillow_on_the_bed.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_put_the_pillow_on_the_bed +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_pillow_on_the_bed -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the pillow -objects: +dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: pillow level1: daily_necessities level2: pillow @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-53484 -dataset_size: 1.7GB -statistics: - total_episodes: 48 - total_frames: 53484 - total_tasks: 1 - total_videos: 144 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the pillow sub_tasks: - Pick up the pillow - Place the pillow at the end of the bed @@ -46,7 +53,30 @@ sub_tasks: - Move to the foot of the bed - Place the pillow at the bedside - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 48 + total_frames: 53484 + total_tasks: 1 + total_videos: 144 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 53484 +dataset_size: 1.7GB +data_structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +128,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,40 +155,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_put_the_pillow_on_the_bed + dataset_name: put_the_pillow_on_the_bed + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the pillow + objects: *id001 + operation_platform_height: null + frame_range: 0-53484 + dataset_size: 1.7GB + statistics: *id002 + dataset_uuid: c25eff25-52c9-4178-a906-2f1040e89068 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the pillow + - Place the pillow at the end of the bed + - Move to the head of the bed + - Move to the foot of the bed + - Place the pillow at the bedside + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml index 99c30f9c385334966341e1bbf10f76c4c53668ea..6c43acb96a4eb73ba48a42371d026a2076be10c8 100644 --- a/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml +++ b/dataset_info/R1_Lite_put_the_shoes_into_the_shoe_box.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_put_the_shoes_into_the_shoe_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_shoes_into_the_shoe_box -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Put the shoes out of the shoe box -objects: +dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: shoes level1: clothing level2: shoes @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-87219 -dataset_size: 3.8GB -statistics: - total_episodes: 106 - total_frames: 87219 - total_tasks: 1 - total_videos: 318 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the shoes out of the shoe box sub_tasks: - Put the shoes out of the shoe box - abnormal @@ -46,7 +53,30 @@ sub_tasks: - Open the shoe box - Close the shoe box - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 106 + total_frames: 87219 + total_tasks: 1 + total_videos: 318 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 87219 +dataset_size: 3.8GB +data_structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +128,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,40 +155,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_put_the_shoes_into_the_shoe_box + dataset_name: put_the_shoes_into_the_shoe_box + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Put the shoes out of the shoe box + objects: *id001 + operation_platform_height: null + frame_range: 0-87219 + dataset_size: 3.8GB + statistics: *id002 + dataset_uuid: 87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the shoes out of the shoe box + - abnormal + - Put the shoes into the shoe box + - Open the shoe box + - Close the shoe box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml index 12f354898c59189449a6c4d50d54b6c967c2cf56..b22a021dbc740324b5ae23157e8afd227ba8078d 100644 --- a/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml +++ b/dataset_info/R1_Lite_put_the_tableware_into_the_cupboard.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_put_the_tableware_into_the_cupboard +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: put_the_tableware_into_the_cupboard -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the fork in the cutlery box -objects: +dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: cabinet level1: furniture level2: cabinet @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-367607 -dataset_size: 15.5GB -statistics: - total_episodes: 143 - total_frames: 367607 - total_tasks: 1 - total_videos: 429 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the fork in the cutlery box sub_tasks: - Place the fork in the cutlery box - Place the spoon on the plate @@ -92,7 +99,30 @@ sub_tasks: - Close the cupboard - Pick up the fork and place it in the cupboard - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -100,7 +130,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 143 + total_frames: 367607 + total_tasks: 1 + total_videos: 429 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 367607 +dataset_size: 15.5GB +data_structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -109,13 +174,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -133,40 +201,137 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_put_the_tableware_into_the_cupboard + dataset_name: put_the_tableware_into_the_cupboard + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the fork in the cutlery box + objects: *id001 + operation_platform_height: null + frame_range: 0-367607 + dataset_size: 15.5GB + statistics: *id002 + dataset_uuid: 49bc9e7b-4491-4846-95a2-082b0e4f9178 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the fork in the cutlery box + - Place the spoon on the plate + - Take the bowl out of the cupboard + - Pick up the bowl and place it in the cupboard + - Take the chopsticks out of the cupboard + - Pull apart the shelf + - Pick up the chopsticks and place it in the cupboard + - End + - Take the plate out of the cupboard + - Place the bowl on the shelf + - Take the fork out of the cupboard + - Abnormal + - Place the plate on the table + - Pick up the plate and place it in the cupboard + - Place a chopstick on the table + - Place the plate on the shelf + - Pull apart the cupboard + - Place the fork on the table + - Place a pair of chopsticks in the cutlery box + - Take the spoon out of the cupboard + - Place the bowl on the plate + - Place the spoon on the table + - Place the spoon on the cutlery box + - Open the cupboard + - Pick up the spoon and place it in the cupboard + - Close the cupboard + - Pick up the fork and place it in the cupboard + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_sliding_chair.yaml b/dataset_info/R1_Lite_sliding_chair.yaml index 401661e9bc780bba906eb46f945cfdf39aa980ee..7b81b8e44bca645778bd5376d0aed022eec708c7 100644 --- a/dataset_info/R1_Lite_sliding_chair.yaml +++ b/dataset_info/R1_Lite_sliding_chair.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_sliding_chair +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: sliding_chair -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Push the gray chair back under the dining table -objects: +dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-142290 -dataset_size: 6.6GB -statistics: - total_episodes: 87 - total_frames: 142290 - total_tasks: 1 - total_videos: 261 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Push the gray chair back under the dining table sub_tasks: - Push the gray chair back under the dining table - Pull the gray chair out from under the dining table - Push the blue chair back under the dining table - Pull the blue chair out from under the dining table - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 87 + total_frames: 142290 + total_tasks: 1 + total_videos: 261 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 142290 +dataset_size: 6.6GB +data_structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +126,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,38 +153,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_sliding_chair + dataset_name: sliding_chair + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Push the gray chair back under the dining table + objects: *id001 + operation_platform_height: null + frame_range: 0-142290 + dataset_size: 6.6GB + statistics: *id002 + dataset_uuid: 4bd1c96c-6ba1-4688-b331-2557a39894e2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Push the gray chair back under the dining table + - Pull the gray chair out from under the dining table + - Push the blue chair back under the dining table + - Pull the blue chair out from under the dining table + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_stack_baskets.yaml b/dataset_info/R1_Lite_stack_baskets.yaml index 5bba89a20675ac2a8d9dd1d0224d03848b63b3bc..43952029a6e5f90049a78e80246e030cf183409e 100644 --- a/dataset_info/R1_Lite_stack_baskets.yaml +++ b/dataset_info/R1_Lite_stack_baskets.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_stack_baskets +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stack_baskets -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the dark basket with the right gripper -objects: +dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-57189 -dataset_size: 4.1GB -statistics: - total_episodes: 101 - total_frames: 57189 - total_tasks: 1 - total_videos: 404 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the dark basket with the right gripper sub_tasks: - Grasp the dark basket with the right gripper - End @@ -47,7 +54,30 @@ sub_tasks: - Place the dark basket into the light color basket with the right gripper - Static - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,44 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 101 + total_frames: 57189 + total_tasks: 1 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 57189 +dataset_size: 4.1GB +data_structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,44 +158,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_stack_baskets + dataset_name: stack_baskets + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the dark basket with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-57189 + dataset_size: 4.1GB + statistics: *id002 + dataset_uuid: 4b7a3d8c-18c0-45af-9337-02adad3a72de + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the dark basket with the right gripper + - End + - Place the light basket on the middle of the table with the left gripper + - Grasp the light basket with the left gripper + - Place the dark basket into the light color basket with the right gripper + - Static + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_storage_of_toiletries.yaml b/dataset_info/R1_Lite_storage_of_toiletries.yaml index a4fea623d495762658d56c274191d15bf25b5ad6..2d8f491f414095d852096d0c2d92c3efaf67b405 100644 --- a/dataset_info/R1_Lite_storage_of_toiletries.yaml +++ b/dataset_info/R1_Lite_storage_of_toiletries.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_storage_of_toiletries +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_of_toiletries -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the toothpaste in the storage bag -objects: +dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-138432 -dataset_size: 7.0GB -statistics: - total_episodes: 101 - total_frames: 138432 - total_tasks: 1 - total_videos: 303 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the toothpaste in the storage bag sub_tasks: - Place the toothpaste in the storage bag - Pick up the comb @@ -72,7 +79,30 @@ sub_tasks: - Place the toothbrush in the storage bag - Hand it to the other hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -80,7 +110,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 101 + total_frames: 138432 + total_tasks: 1 + total_videos: 303 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 138432 +dataset_size: 7.0GB +data_structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -89,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -113,40 +181,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_storage_of_toiletries + dataset_name: storage_of_toiletries + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the toothpaste in the storage bag + objects: *id001 + operation_platform_height: null + frame_range: 0-138432 + dataset_size: 7.0GB + statistics: *id002 + dataset_uuid: 25f2cd96-c284-44a9-b59c-98e204e16347 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the toothpaste in the storage bag + - Pick up the comb + - Place the comb on the table + - Place the comb into the storage bag + - Pick up the storage bag + - Pick up a toothbrush + - Place the toothpaste on the table + - abnormal + - Pick up the toothpaste + - Open the storage bag + - Close the strorage bag and place it on the desk + - Place the toothbrush in the storage bag + - Hand it to the other hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_switch_labels.yaml b/dataset_info/R1_Lite_switch_labels.yaml index 02d5aa26478316a33ea20362bb951a3a016d0bd0..e75a16c18f9c48e4e7763ec9dd8b9710763e2460 100644 --- a/dataset_info/R1_Lite_switch_labels.yaml +++ b/dataset_info/R1_Lite_switch_labels.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_switch_labels +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: switch_labels -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: the_door level1: furniture level2: the_door @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-171139 -dataset_size: 7.3GB -statistics: - total_episodes: 99 - total_frames: 171139 - total_tasks: 1 - total_videos: 297 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - abnormal @@ -55,7 +62,30 @@ sub_tasks: - Hang the sign back with the other side facing out - Hand it to the other hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 99 + total_frames: 171139 + total_tasks: 1 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 171139 +dataset_size: 7.3GB +data_structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,38 +163,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_switch_labels + dataset_name: switch_labels + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-171139 + dataset_size: 7.3GB + statistics: *id002 + dataset_uuid: e32d8bbd-d12b-45e0-9c3f-932e67428f3d + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - abnormal + - Take down the sign + - Hang the lable on the doorknob with right gripper + - Grasp the lable with left gripper + - Pass the lable from the left gripper to the right gripper + - Hang the sign back with the other side facing out + - Hand it to the other hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml index e71ef2d40bcc7ecbf95ab9e6b9bbb7daea6692d7..f09b89645c844d60963e70bab111bc266831eda3 100644 --- a/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml +++ b/dataset_info/R1_Lite_switch_on_and_off_the_central_air_conditioning.yaml @@ -1,45 +1,75 @@ -path: R1_Lite_switch_on_and_off_the_central_air_conditioning +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: switch_on_and_off_the_central_air_conditioning -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn off the central air conditioner -objects: +dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: central_air_conditioning level1: household_appliances level2: central_air_conditioning level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-19688 -dataset_size: 793.3MB -statistics: - total_episodes: 35 - total_frames: 19688 - total_tasks: 1 - total_videos: 105 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn off the central air conditioner sub_tasks: - Turn off the central air conditioner - Press the temperature decrease button - Press the temperature increase button - Turn on the central air conditioner - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -47,7 +77,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 35 + total_frames: 19688 + total_tasks: 1 + total_videos: 105 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 19688 +dataset_size: 793.3MB +data_structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -56,13 +121,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -80,40 +148,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_switch_on_and_off_the_central_air_conditioning + dataset_name: switch_on_and_off_the_central_air_conditioning + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn off the central air conditioner + objects: *id001 + operation_platform_height: null + frame_range: 0-19688 + dataset_size: 793.3MB + statistics: *id002 + dataset_uuid: 6d6d5868-e715-41cc-a7df-972218e02479 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn off the central air conditioner + - Press the temperature decrease button + - Press the temperature increase button + - Turn on the central air conditioner + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_tableware_arrangement.yaml b/dataset_info/R1_Lite_tableware_arrangement.yaml index 5fa9d1aa63563e3d6b8eb55c169ecb854c887801..46bf0ac61c1d10d709c2b1cda384e5bc025fa5bc 100644 --- a/dataset_info/R1_Lite_tableware_arrangement.yaml +++ b/dataset_info/R1_Lite_tableware_arrangement.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_tableware_arrangement +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tableware_arrangement -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Put the chopsticks back from the plate -objects: +dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-16015 -dataset_size: 628.5MB -statistics: - total_episodes: 8 - total_frames: 16015 - total_tasks: 1 - total_videos: 24 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Put the chopsticks back from the plate sub_tasks: - Put the chopsticks back from the plate - Put the bowl back from the plate @@ -72,7 +79,30 @@ sub_tasks: - Pick the bowl and place it on the plate - Pick the spoon and place it in the bowl - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -80,7 +110,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 8 + total_frames: 16015 + total_tasks: 1 + total_videos: 24 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 16015 +dataset_size: 628.5MB +data_structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -89,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -113,40 +181,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_tableware_arrangement + dataset_name: tableware_arrangement + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Put the chopsticks back from the plate + objects: *id001 + operation_platform_height: null + frame_range: 0-16015 + dataset_size: 628.5MB + statistics: *id002 + dataset_uuid: 85abe0d0-6c0a-432a-9dd0-14e2ca009399 + language: *id003 + task_categories: *id004 + sub_tasks: + - Put the chopsticks back from the plate + - Put the bowl back from the plate + - Put the spoon back from the bowl + - Pick the chopsticks and place it on the plate + - abnormal + - Pick the bowl and place it on the plate + - Pick the spoon and place it in the bowl + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/R1_Lite_tableware_cleaning.yaml b/dataset_info/R1_Lite_tableware_cleaning.yaml index 3ba89872108b4d76fcbe17c489c23c1040b9cf06..f0d4e69f82e0026ee366ff66420925581ea307cb 100644 --- a/dataset_info/R1_Lite_tableware_cleaning.yaml +++ b/dataset_info/R1_Lite_tableware_cleaning.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_tableware_cleaning +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tableware_cleaning -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -52,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-327254 -dataset_size: 17.6GB -statistics: - total_episodes: 102 - total_frames: 327254 - total_tasks: 1 - total_videos: 306 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Rinse the chopsticks @@ -95,7 +102,30 @@ sub_tasks: - Wash the bowl - Turn on the faucet - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -103,7 +133,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 102 + total_frames: 327254 + total_tasks: 1 + total_videos: 306 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 327254 +dataset_size: 17.6GB +data_structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -112,13 +177,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -136,39 +204,134 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_tableware_cleaning + dataset_name: tableware_cleaning + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-327254 + dataset_size: 17.6GB + statistics: *id002 + dataset_uuid: 1969fa83-52f1-4c9f-94c6-6f9802241318 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Rinse the chopsticks + - Place the dish soap on the table + - Wipe the plate + - Rinse the plate + - Place the chopsticks on the glass basin + - Pick up a bowl and the sponge + - Rinse the bowl + - Wash the plate + - Place the plate on the plate + - Place the plate on the table + - Place the spoon in the glass basin + - Place the bowl on the table + - Wipe the bowl + - Squeeze it onto the sponge + - Abnormal + - Rinse the spoon + - Place the bowl on the plate + - Put down the sponge + - Place the bowl on the bowl + - Turn off the faucet + - Grab the dish soap + - Wash the bowl + - Turn on the faucet + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml index 0ac4552d83c5c8a0d6c38f8644e6b7a8d2b6d152..d39ff657d7c2b143572f924ac981520d030699aa 100644 --- a/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml +++ b/dataset_info/R1_Lite_take_and_place_the_portable_power_bank.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_take_and_place_the_portable_power_bank +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_and_place_the_portable_power_bank -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Open the top of the storage box -objects: +dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: cloth_bag level1: container level2: cloth_bag @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-237234 -dataset_size: 17.3GB -statistics: - total_episodes: 110 - total_frames: 237234 - total_tasks: 1 - total_videos: 330 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Open the top of the storage box sub_tasks: - Open the top of the storage box - Release the handle @@ -50,7 +57,30 @@ sub_tasks: - Place the black box back - Close the top of the storage box - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -58,7 +88,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 110 + total_frames: 237234 + total_tasks: 1 + total_videos: 330 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 237234 +dataset_size: 17.3GB +data_structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -67,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -91,40 +159,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_and_place_the_portable_power_bank + dataset_name: take_and_place_the_portable_power_bank + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Open the top of the storage box + objects: *id001 + operation_platform_height: null + frame_range: 0-237234 + dataset_size: 17.3GB + statistics: *id002 + dataset_uuid: f283fb8d-62de-4238-bb07-bcac110d50bb + language: *id003 + task_categories: *id004 + sub_tasks: + - Open the top of the storage box + - Release the handle + - Grip the handle again + - End + - abnormal + - Lift the black box + - Grip the handle + - Place the black box back + - Close the top of the storage box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml index b3fa88dd3ed86108919a7c1f89903eef799b57bf..5e3a38c6395970e7484f4698f9cb5f12858afce2 100644 --- a/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_take_and_put_away_garden_stuff +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_and_put_away_garden_stuff -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -- push -tasks: Pick up the ball on the table -objects: +dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: refrigerator level1: furniture level2: refrigerator @@ -66,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-135711 -dataset_size: 7.5GB -statistics: - total_episodes: 53 - total_frames: 135711 - total_tasks: 1 - total_videos: 159 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the ball on the table sub_tasks: - Pick up the ball on the table - Pick up the ball on the lid @@ -95,7 +100,32 @@ sub_tasks: - Pick up toys out of the box - Find toys out of the box - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -103,7 +133,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 53 + total_frames: 135711 + total_tasks: 1 + total_videos: 159 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 135711 +dataset_size: 7.5GB +data_structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -112,13 +177,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -136,40 +204,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_and_put_away_garden_stuff + dataset_name: take_and_put_away_garden_stuff + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + - push + tasks: Pick up the ball on the table + objects: *id001 + operation_platform_height: null + frame_range: 0-135711 + dataset_size: 7.5GB + statistics: *id002 + dataset_uuid: 05f234b5-3958-4897-b330-5c91290dd15c + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the ball on the table + - Pick up the ball on the lid + - Put the toys in the box + - Open the lid + - abnormal + - Close the lid + - Put the ball in the box + - Pick up the ball on the floor + - Pick up toys out of the box + - Find toys out of the box + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml index f49b1735cd0d2d8313e062ccb355c45a4eafd372..d80671cb71db1090882186b4de32506eff74c5a4 100644 --- a/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_garden_stuff_a.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_take_and_put_away_garden_stuff_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_and_put_away_garden_stuff_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -- push -tasks: Grasp the apple and place it on the table with right gripper -objects: +dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: refrigerator level1: furniture level2: refrigerator @@ -66,23 +84,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-355644 -dataset_size: 15.9GB -statistics: - total_episodes: 148 - total_frames: 355644 - total_tasks: 1 - total_videos: 444 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the apple and place it on the table with right gripper sub_tasks: - Grasp the apple and place it on the table with right gripper - Place the green bell pepper in the lower drawer with right gripper @@ -118,7 +123,32 @@ sub_tasks: - Take out the apple and place it on the table - Open the lower drawer with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -126,7 +156,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 148 + total_frames: 355644 + total_tasks: 1 + total_videos: 444 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 355644 +dataset_size: 15.9GB +data_structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -135,13 +200,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -159,40 +227,145 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_and_put_away_garden_stuff_a + dataset_name: take_and_put_away_garden_stuff_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + - push + tasks: Grasp the apple and place it on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-355644 + dataset_size: 15.9GB + statistics: *id002 + dataset_uuid: 7c763184-bc85-4d7e-b01b-85ba85cbb6f2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the apple and place it on the table with right gripper + - Place the green bell pepper in the lower drawer with right gripper + - Put green pepper in the refrigerator drawer + - Place the orange in the lower drawer with right gripper + - Place the potato in the lower drawer with left gripper + - Take out the potato and place it on the table + - Open the refrigerator door with left gripper + - Place the potato in the lower drawer with right gripper + - Take out the apple and place it on the tray + - Open the refrigerator door + - End + - Close the refrigerator door + - Close the lower drawer with the left gripper + - Grasp the potato and place it on the table with left gripper + - Open the lower refrigerator drawer + - Close the middle refrigerator door with the right gripper + - Place the apple in the lower drawer with right gripper + - Put orange in the refrigerator drawer + - Abnormal + - Put pumpkin in the refrigerator drawer + - Grasp the potato and place it on the table with right gripper + - Close the lower refrigerator drawer + - Place the green bell pepper in the lower drawer with left gripper + - Put apple in the refrigerator drawer + - Take out the pumpkin and place it on the table + - Close the lower drawer with the right gripper + - Grasp the orange and place it on the table with right gripper + - Put potato in the refrigerator drawer + - Take out the green pepper and place it on the table + - Take out the orange and place it on the tray + - Grasp the green bell pepper and place it on the table with right gripper + - Take out the apple and place it on the table + - Open the lower drawer with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_and_put_away_items.yaml b/dataset_info/R1_Lite_take_and_put_away_items.yaml index ec1d0ba07cbaf2e649c97b758bbb17bcaec66a1d..caa11005962db930af75d84c846b8eebea3c6a4e 100644 --- a/dataset_info/R1_Lite_take_and_put_away_items.yaml +++ b/dataset_info/R1_Lite_take_and_put_away_items.yaml @@ -1,17 +1,35 @@ -path: R1_Lite_take_and_put_away_items +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_and_put_away_items -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -- push -tasks: Take the mineral water out of the drawer and put it on the table -objects: +dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -48,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-137069 -dataset_size: 6.9GB -statistics: - total_episodes: 112 - total_frames: 137069 - total_tasks: 1 - total_videos: 336 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Take the mineral water out of the drawer and put it on the table sub_tasks: - Take the mineral water out of the drawer and put it on the table - Open the drawer @@ -77,7 +82,32 @@ sub_tasks: - Put the data cable in the drawer - Put the mineral water in the drawer - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +- push +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -85,7 +115,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 112 + total_frames: 137069 + total_tasks: 1 + total_videos: 336 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 137069 +dataset_size: 6.9GB +data_structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -94,13 +159,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -118,40 +186,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_and_put_away_items + dataset_name: take_and_put_away_items + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + - push + tasks: Take the mineral water out of the drawer and put it on the table + objects: *id001 + operation_platform_height: null + frame_range: 0-137069 + dataset_size: 6.9GB + statistics: *id002 + dataset_uuid: fa3f7148-5f74-444e-82a5-9f8b31a69987 + language: *id003 + task_categories: *id004 + sub_tasks: + - Take the mineral water out of the drawer and put it on the table + - Open the drawer + - Take the data cable out of the drawer and put it on the table + - Take the umbrella out of the drawer and put it on the table + - Take the storage box out of the drawer and put it on the table + - Put the storage box in the drawer + - Close the drawer + - Put the umbrella in the drawer + - Put the data cable in the drawer + - Put the mineral water in the drawer + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_and_put_the_bowl.yaml b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml index 1678aa31b83aa65c031b4daa6440aee433f30f92..3fbe31d0a205ba79f49f7be5e081235e188a947a 100644 --- a/dataset_info/R1_Lite_take_and_put_the_bowl.yaml +++ b/dataset_info/R1_Lite_take_and_put_the_bowl.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_take_and_put_the_bowl +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_and_put_the_bowl -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place it on the table -objects: +dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: cabinet level1: furniture level2: cabinet @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-189200 -dataset_size: 7.0GB -statistics: - total_episodes: 94 - total_frames: 189200 - total_tasks: 1 - total_videos: 282 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place it on the table sub_tasks: - Place it on the table - Put it back into the cabinet @@ -66,7 +73,30 @@ sub_tasks: - Pick up the bowl from the table - Take the bowl from the cabinet - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -74,7 +104,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 94 + total_frames: 189200 + total_tasks: 1 + total_videos: 282 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 189200 +dataset_size: 7.0GB +data_structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -83,13 +148,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -107,40 +175,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_and_put_the_bowl + dataset_name: take_and_put_the_bowl + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place it on the table + objects: *id001 + operation_platform_height: null + frame_range: 0-189200 + dataset_size: 7.0GB + statistics: *id002 + dataset_uuid: 29eb76ea-0c49-4f11-8073-7f7501b77736 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place it on the table + - Put it back into the cabinet + - Take the plate from the cabinet + - Pick up the plate from the table + - Close the cabinet door + - Pick up the bowl from the table + - Take the bowl from the cabinet + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml index 3014dbe9236b906ff015a5d92e5fe7487a4bd37b..29c489c56f6d328e062331b379d93ca617d55f8b 100644 --- a/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml +++ b/dataset_info/R1_Lite_take_clothes_out_of_the_washing_machine.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_take_clothes_out_of_the_washing_machine +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_clothes_out_of_the_washing_machine -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Press the washing machine switch -objects: +dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: washing_machine level1: electrical_appliances level2: washing_machine @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-238333 -dataset_size: 16.1GB -statistics: - total_episodes: 114 - total_frames: 238333 - total_tasks: 1 - total_videos: 342 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Press the washing machine switch sub_tasks: - Press the washing machine switch - Close the washing machine door with the right hand @@ -58,7 +65,30 @@ sub_tasks: - Pick up the clothes basket and put it beside the washing machine - Move to the front of the washing machine - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 114 + total_frames: 238333 + total_tasks: 1 + total_videos: 342 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 238333 +dataset_size: 16.1GB +data_structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├──\ - \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_clothes_out_of_the_washing_machine + dataset_name: take_clothes_out_of_the_washing_machine + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Press the washing machine switch + objects: *id001 + operation_platform_height: null + frame_range: 0-238333 + dataset_size: 16.1GB + statistics: *id002 + dataset_uuid: 75315916-19f4-400c-99a4-2bd123e2a42a + language: *id003 + task_categories: *id004 + sub_tasks: + - Press the washing machine switch + - Close the washing machine door with the right hand + - Open the lid of the washing machine + - Close the washing machine door with the left hand + - Pick a cloth and place it into the basket + - Place the clothes into the washing machine + - End + - Press the washing machine door tightly with the right hand + - abnormal + - Pick up the clothes basket and put it beside the washing machine + - Move to the front of the washing machine + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_take_or_store_plates.yaml b/dataset_info/R1_Lite_take_or_store_plates.yaml index aba7dae5510e4242b02c5949d38169c64816ed7c..172c180426e997f6cf0f2216d22c2dbe26dc2379 100644 --- a/dataset_info/R1_Lite_take_or_store_plates.yaml +++ b/dataset_info/R1_Lite_take_or_store_plates.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_take_or_store_plates +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: take_or_store_plates -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the plate on the stove -objects: +dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: cabinet level1: furniture level2: cabinet @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-138676 -dataset_size: 5.2GB -statistics: - total_episodes: 105 - total_frames: 138676 - total_tasks: 1 - total_videos: 315 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the plate on the stove sub_tasks: - Pick up the plate on the stove - Put the plate in the cupboard - Pick up the plate in the cupboard - Put the plate on the stove - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 105 + total_frames: 138676 + total_tasks: 1 + total_videos: 315 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 138676 +dataset_size: 5.2GB +data_structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_take_or_store_plates + dataset_name: take_or_store_plates + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the plate on the stove + objects: *id001 + operation_platform_height: null + frame_range: 0-138676 + dataset_size: 5.2GB + statistics: *id002 + dataset_uuid: 3c2c0596-7690-4f94-911f-74035fe6e126 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the plate on the stove + - Put the plate in the cupboard + - Pick up the plate in the cupboard + - Put the plate on the stove + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_take_or_store_plates_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_tea_service_table_setting.yaml b/dataset_info/R1_Lite_tea_service_table_setting.yaml index e568d26c9c0b8ef6d3852fa6af51658b24e78691..e539a101ca3d086c7b102d8f46efbb5212e4757c 100644 --- a/dataset_info/R1_Lite_tea_service_table_setting.yaml +++ b/dataset_info/R1_Lite_tea_service_table_setting.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_tea_service_table_setting +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tea_service_table_setting -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Return the tea bag to its original position -objects: +dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: tea_table level1: furniture level2: tea_table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-107465 -dataset_size: 4.6GB -statistics: - total_episodes: 109 - total_frames: 107465 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Return the tea bag to its original position sub_tasks: - Return the tea bag to its original position - Pick up the tea bag @@ -78,7 +85,30 @@ sub_tasks: - Pick up the bottled water - Place it on the tray - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -86,7 +116,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 109 + total_frames: 107465 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 107465 +dataset_size: 4.6GB +data_structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -95,13 +160,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -119,40 +187,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_tea_service_table_setting + dataset_name: tea_service_table_setting + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Return the tea bag to its original position + objects: *id001 + operation_platform_height: null + frame_range: 0-107465 + dataset_size: 4.6GB + statistics: *id002 + dataset_uuid: ae8f641b-7e62-47e3-a80a-aab9866a8d29 + language: *id003 + task_categories: *id004 + sub_tasks: + - Return the tea bag to its original position + - Pick up the tea bag + - Pick up the tea cup + - Return the tea cup to its original position + - abnormal + - Return the bottled water to its original position + - Place it on the right + - Return the kettle to its original position + - Place it on the left + - Place it in front of you + - Pick up the kettle + - Pick up the bottled water + - Place it on the tray + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_throw_out_the_trash.yaml b/dataset_info/R1_Lite_throw_out_the_trash.yaml index 9aa8bb6db1592680abc89f3a0d921b8f833431ab..7ada6706d7fca156f87247e12e03036509f42ce6 100644 --- a/dataset_info/R1_Lite_throw_out_the_trash.yaml +++ b/dataset_info/R1_Lite_throw_out_the_trash.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_throw_out_the_trash +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: throw_out_the_trash -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: trash_can level1: container level2: trash_can @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-143720 -dataset_size: 6.0GB -statistics: - total_episodes: 109 - total_frames: 143720 - total_tasks: 1 - total_videos: 327 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the outer trash can on the ground @@ -52,7 +59,30 @@ sub_tasks: - Pick up the trash bag - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 109 + total_frames: 143720 + total_tasks: 1 + total_videos: 327 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 143720 +dataset_size: 6.0GB +data_structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,40 +161,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_throw_out_the_trash + dataset_name: throw_out_the_trash + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-143720 + dataset_size: 6.0GB + statistics: *id002 + dataset_uuid: 1aceeebe-3221-4690-8d72-ca6f9ec512eb + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the outer trash can on the ground + - Put the trash bag at the door + - Pick up the trash bag + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_tidy_up_toiletries.yaml b/dataset_info/R1_Lite_tidy_up_toiletries.yaml index 454a7fda7165873d8e853719579c7a38d9fe2cc0..e55f9684c63346bf8f3e06faaf05a7aee84b2752 100644 --- a/dataset_info/R1_Lite_tidy_up_toiletries.yaml +++ b/dataset_info/R1_Lite_tidy_up_toiletries.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_tidy_up_toiletries +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: tidy_up_toiletries -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the cup on the table -objects: +dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-205789 -dataset_size: 9.8GB -statistics: - total_episodes: 115 - total_frames: 205789 - total_tasks: 1 - total_videos: 345 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the cup on the table sub_tasks: - Place the cup on the table - Place the comb on the table with the right gripper @@ -72,7 +79,30 @@ sub_tasks: - Open the drawer - Place the black cup on the drawer with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -80,7 +110,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 115 + total_frames: 205789 + total_tasks: 1 + total_videos: 345 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 205789 +dataset_size: 9.8GB +data_structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -89,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -113,39 +181,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_tidy_up_toiletries + dataset_name: tidy_up_toiletries + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the cup on the table + objects: *id001 + operation_platform_height: null + frame_range: 0-205789 + dataset_size: 9.8GB + statistics: *id002 + dataset_uuid: 8dfd4c19-842d-4dce-8253-ffaf5f56d7df + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the cup on the table + - Place the comb on the table with the right gripper + - Place the bathroom toiletry into the drawer + - Pick up the cup + - Pick up the bathroom toiletry + - Open the drawer with the left gripper + - Grasp the bathroom toiletry with the left gripper + - Put toiletries in the drawer + - Grasp the black cup with the left gripper + - Place the cup on the storage box + - Close the drawer + - Open the drawer + - Place the black cup on the drawer with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_wash_the_tableware.yaml b/dataset_info/R1_Lite_wash_the_tableware.yaml index 40b01dd490e8d68e3f083dba9fe268e06bdeefbf..d30b680ca0cf1f6ff941ca993d9a58b93394eacb 100644 --- a/dataset_info/R1_Lite_wash_the_tableware.yaml +++ b/dataset_info/R1_Lite_wash_the_tableware.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_wash_the_tableware +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: wash_the_tableware -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp yellow bowl with right gripper -objects: +dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-197672 -dataset_size: 7.3GB -statistics: - total_episodes: 137 - total_frames: 197672 - total_tasks: 1 - total_videos: 411 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp yellow bowl with right gripper sub_tasks: - Grasp yellow bowl with right gripper - Pick up the bowl @@ -105,7 +112,30 @@ sub_tasks: - Place pink bowl on the table with right gripper - Put a plate into the sink - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -113,7 +143,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 137 + total_frames: 197672 + total_tasks: 1 + total_videos: 411 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 197672 +dataset_size: 7.3GB +data_structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -122,13 +187,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -146,39 +214,150 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_wash_the_tableware + dataset_name: wash_the_tableware + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp yellow bowl with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-197672 + dataset_size: 7.3GB + statistics: *id002 + dataset_uuid: 62b4f49b-4413-4d29-9822-c440835cdf41 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp yellow bowl with right gripper + - Pick up the bowl + - Open the dispenser valve with right gripper + - End + - Rinse the chopsticks + - Put the chopsticks into the sink + - Place the chopsticks on the table + - Put a spoon back to the table from the sink + - Put a bowl back to the table from the sink + - Place pink bowl into the sink with right gripper + - Rinse the plate + - Wait for the water to rinse the bowl + - Place a chopstick into the sink with right gripper + - Put a bowl into the sink + - Rinse the bowl + - Place a chopstick on the bowl with right gripper + - Place the plate on the table + - Pour the water from the yellow bowl into the sink with right gripper + - Place the bowl on the table + - Pick up the chopsticks + - Put the chopsticks back to the table from the sink + - Put a spoon into the sink + - Pour the water from the pink bowl into the sink with right gripper + - Place the chopsticks on the bowl + - Abnormal + - Pick up the spoon + - Rinse the spoon + - Place yellow bowl on the table with right gripper + - Place yellow bowl into the sink with right gripper + - Place the spoon on the plate + - Put a plate back to the table from the sink + - Turn off the faucet + - Pick up the plate + - Place the spoon on the bowl + - Close the dispenser valve with right gripper + - Grasp a chopstick with right gripper + - Grasp pink bowl with right gripper + - Turn on the faucet + - Place pink bowl on the table with right gripper + - Put a plate into the sink + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_washing_board.yaml b/dataset_info/R1_Lite_washing_board.yaml index c5716fd263ec610994d5dc85a84cd1945314253a..98bc9f0553da741c274017217039b508de0caf82 100644 --- a/dataset_info/R1_Lite_washing_board.yaml +++ b/dataset_info/R1_Lite_washing_board.yaml @@ -1,18 +1,35 @@ -path: R1_Lite_washing_board +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: washing_board -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- open -- wipe -- close -tasks: Pick up the cleaning cloth -objects: +dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: faucet level1: tool level2: faucet @@ -37,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-156103 -dataset_size: 6.9GB -statistics: - total_episodes: 97 - total_frames: 156103 - total_tasks: 1 - total_videos: 291 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the cleaning cloth sub_tasks: - Pick up the cleaning cloth - abnormal @@ -64,7 +68,33 @@ sub_tasks: - Turn off the tap - Scrub the cutting board underwater - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- open +- wipe +- close +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 97 + total_frames: 156103 + total_tasks: 1 + total_videos: 291 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 156103 +dataset_size: 6.9GB +data_structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +145,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,38 +172,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_washing_board + dataset_name: washing_board + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - open + - wipe + - close + tasks: Pick up the cleaning cloth + objects: *id001 + operation_platform_height: null + frame_range: 0-156103 + dataset_size: 6.9GB + statistics: *id002 + dataset_uuid: 5321a05d-2861-4198-a91f-b238e2567ee9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the cleaning cloth + - abnormal + - Turn on the tap + - Put down the cutting board + - Put down the cleaning cloth + - Pick up the cutting board + - Turn off the tap + - Scrub the cutting board underwater + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/R1_Lite_wipe_the_table.yaml b/dataset_info/R1_Lite_wipe_the_table.yaml index 67f322f2b14af7608a15345e715dc2bdf568ce0e..cc3bbfda0da5e7cb9692e90830b54a273638a0d1 100644 --- a/dataset_info/R1_Lite_wipe_the_table.yaml +++ b/dataset_info/R1_Lite_wipe_the_table.yaml @@ -1,15 +1,35 @@ -path: R1_Lite_wipe_the_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: wipe_the_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the tablecloth -objects: +dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-67215 -dataset_size: 2.4GB -statistics: - total_episodes: 107 - total_frames: 67215 - total_tasks: 1 - total_videos: 321 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the tablecloth sub_tasks: - Pick up the tablecloth - Place the tablecloth @@ -53,7 +60,30 @@ sub_tasks: - Sweep the stains on the table - Hand it to the other hand - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -61,7 +91,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 107 + total_frames: 67215 + total_tasks: 1 + total_videos: 321 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 67215 +dataset_size: 2.4GB +data_structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -70,13 +135,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -94,38 +162,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: R1_Lite_wipe_the_table + dataset_name: wipe_the_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the tablecloth + objects: *id001 + operation_platform_height: null + frame_range: 0-67215 + dataset_size: 2.4GB + statistics: *id002 + dataset_uuid: b7447b1b-1e24-4b6f-9835-82048a217823 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the tablecloth + - Place the tablecloth + - Place the bottle at the back of the table + - Pick up the bottle + - Sweep the stains on the table + - Hand it to the other hand + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml index 518d902c805145badb0ee9c7718ad6909e3ed15b..f7f90e70b4d639060e9752d1e303bc4a54300ccd 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_banana.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_basket_storage_banana +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_banana -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the banana with the right gripper -objects: +dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-306335 -dataset_size: 3.1GB -statistics: - total_episodes: 654 - total_frames: 306335 - total_tasks: 4 - total_videos: 1962 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the banana with the right gripper sub_tasks: - Pick up the banana with the right gripper - Pick up the light basket with the right gripper @@ -64,7 +71,30 @@ sub_tasks: - Pick up the basket with the left gripper - Pick up the dark basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 654 + total_frames: 306335 + total_tasks: 4 + total_videos: 1962 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 306335 +dataset_size: 3.1GB +data_structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_basket_storage_banana + dataset_name: basket_storage_banana + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the banana with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-306335 + dataset_size: 3.1GB + statistics: *id002 + dataset_uuid: 95db1bea-22a4-4ba9-9097-ef3711a084d0 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the banana with the right gripper + - Pick up the light basket with the right gripper + - abnormal + - Place the banana into the light basket with the left gripper + - Place the dark basket in the center of view with the left gripper + - Place the light basket in the center of view with the right gripper + - Place the basket in the center of view with the left gripper + - Pick up the banana with the left gripper + - Place the banana into the dark basket with the left gripper + - end + - Place the banana into the basket with the right gripper + - Place the dark basket in the center of view with the right gripper + - Place the banana into the dark basket with the right gripper + - Pick up the dark basket with the left gripper + - Pick up the basket with the right gripper + - Pick up the basket with the left gripper + - Pick up the dark basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml index 7aa1b4f3efa75393e9846b53571f89d99e32df99..c3a4ac80eb313d96a67b425a30b09c73c1ab4d7f 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_egg_yolk_pastry.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_basket_storage_egg_yolk_pastry +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_egg_yolk_pastry -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the basket in the center of view with left gripper -objects: +dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-295062 -dataset_size: 3.5GB -statistics: - total_episodes: 727 - total_frames: 295062 - total_tasks: 4 - total_videos: 2181 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the basket in the center of view with left gripper sub_tasks: - Place the basket in the center of view with left gripper - Place the egg yolk pastry in the basket with right gripper @@ -64,7 +71,30 @@ sub_tasks: - Place the egg yolk pastry into the basket with the left gripper - Pick up the egg yolk pastry with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -72,7 +102,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 727 + total_frames: 295062 + total_tasks: 4 + total_videos: 2181 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 295062 +dataset_size: 3.5GB +data_structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -81,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -105,40 +173,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_basket_storage_egg_yolk_pastry + dataset_name: basket_storage_egg_yolk_pastry + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the basket in the center of view with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-295062 + dataset_size: 3.5GB + statistics: *id002 + dataset_uuid: 928d5a84-eae7-4fae-b272-9356c151aa6d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the basket in the center of view with left gripper + - Place the egg yolk pastry in the basket with right gripper + - Move the basket to the center of view with the right gripper + - Move the basket to the center of view with the left gripper + - Pick up the egg yolk pastry with the right gripper + - Place the basket in the center of view with right gripper + - Pick up the basket with the left gripper + - Place the basket in the center of view with the left gripper + - Grasp egg yolk pastry with left gripper + - Place the egg yolk pastry into the basket with the right gripper + - Grasp the basket with right gripper + - End + - Grasp egg yolk pastry with right gripper + - Place the egg yolk pastry in the basket with left gripper + - Grasp the basket with left gripper + - Place the egg yolk pastry into the basket with the left gripper + - Pick up the egg yolk pastry with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml index ee0cfece234e7011aebcd34b04b5be78197f3264..e170a7cd1a338df1aee5ef38eea9406e85c4877d 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_long_bread.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_basket_storage_long_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_long_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the long bread into the basket with the left gripper -objects: +dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-343253 -dataset_size: 3.9GB -statistics: - total_episodes: 753 - total_frames: 343253 - total_tasks: 6 - total_videos: 2259 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the long bread into the basket with the left gripper sub_tasks: - Place the long bread into the basket with the left gripper - Place the long bread into the dark basket with the right gripper @@ -75,7 +82,30 @@ sub_tasks: - Pick up the long bread with the left gripper - Pick up the dark basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -83,7 +113,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 753 + total_frames: 343253 + total_tasks: 6 + total_videos: 2259 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 343253 +dataset_size: 3.9GB +data_structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -92,13 +157,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -116,40 +184,138 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_basket_storage_long_bread + dataset_name: basket_storage_long_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the long bread into the basket with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-343253 + dataset_size: 3.9GB + statistics: *id002 + dataset_uuid: 2a54716c-882f-4e89-a882-50b8c7b5b821 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the long bread into the basket with the left gripper + - Place the long bread into the dark basket with the right gripper + - Place the light basket in the center of view with the left gripper + - Place the long bread into the light basket with the right gripper + - Place the basket in the center of the table with the left gripper + - Pick up the basket with the left gripper + - Grasp the long bread with right gripper + - Place the long bread into the light basket with the left gripper + - Place the basket in the center of view with the left gripper + - Pick up the light basket with the left gripper + - Place the long bread into the dark basket with the left gripper + - Place the light basket in the center of view with the right gripper + - Place the dark basket in the center of view with the right gripper + - Abnormal + - Move the light basket to the center of view with the left gripper + - Pick up the basket with the right gripper + - Place the basket in the center of view with the right gripper + - Place the long bread in the basket with right gripper + - End + - Place the dark basket in the center of view with the left gripper + - Pick up the light basket with the right gripper + - Place the long bread into the basket with the right gripper + - Grasp the basket with the left gripper + - Static + - Pick up the long bread with the right gripper + - Pick up the dark basket with the left gripper + - Pick up the long bread with the left gripper + - Pick up the dark basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml index 2863d378c860cacd7966614555a5689e647d2883..209978751a2d1ea119a6db1795e426ab00d47fc6 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_orange.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_basket_storage_orange +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_orange -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the dark basket in the center of view with the right gripper -objects: +dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-112423 -dataset_size: 1.1GB -statistics: - total_episodes: 356 - total_frames: 112423 - total_tasks: 4 - total_videos: 1068 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the dark basket in the center of view with the right gripper sub_tasks: - Place the dark basket in the center of view with the right gripper - Place the light basket in the center of view with the right gripper @@ -62,7 +69,30 @@ sub_tasks: - Pick up the orange with the left gripper - Place the orange into the dark basket with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 356 + total_frames: 112423 + total_tasks: 4 + total_videos: 1068 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 112423 +dataset_size: 1.1GB +data_structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,40 +171,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_basket_storage_orange + dataset_name: basket_storage_orange + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the dark basket in the center of view with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-112423 + dataset_size: 1.1GB + statistics: *id002 + dataset_uuid: f96c79dc-15ee-43ed-8c21-1e898a816ee6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the dark basket in the center of view with the right gripper + - Place the light basket in the center of view with the right gripper + - Place the orange into the dark basket with the left gripper + - Place the dark basket in the center of view with the left gripper + - end + - Place the orange into the light basket with the left gripper + - Pick up the light basket with the right gripper + - Place the orange into the light basket with the right gripper + - Pick up the orange with the right gripper + - Place the light basket in the center of view with the left gripper + - Pick up the dark basket with the left gripper + - Pick up the light basket with the left gripper + - Pick up the dark basket with the right gripper + - Pick up the orange with the left gripper + - Place the orange into the dark basket with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml index 9e4183f7929f5fedc755969fb1cfb58050f9afd1..15501f9ad522fc2cb83976e172bf206b11769385 100644 --- a/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml +++ b/dataset_info/RMC-AIDA-L_basket_storage_peach.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_basket_storage_peach +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_peach -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the basket in the center of view with the left gripper -objects: +dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-308398 -dataset_size: 3.6GB -statistics: - total_episodes: 721 - total_frames: 308398 - total_tasks: 5 - total_videos: 2163 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the basket in the center of view with the left gripper sub_tasks: - Place the basket in the center of view with the left gripper - Place the dark basket in the center of view with the right gripper @@ -74,7 +81,30 @@ sub_tasks: - Place the peach into the basket with the right gripper - Place the peach into the basket with the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -82,7 +112,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 721 + total_frames: 308398 + total_tasks: 5 + total_videos: 2163 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 308398 +dataset_size: 3.6GB +data_structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -91,13 +156,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -115,40 +183,137 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_basket_storage_peach + dataset_name: basket_storage_peach + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the basket in the center of view with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-308398 + dataset_size: 3.6GB + statistics: *id002 + dataset_uuid: 88e35314-80f0-4a2b-a92e-5b0e769483ae + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the basket in the center of view with the left gripper + - Place the dark basket in the center of view with the right gripper + - Pick up the basket with the left gripper + - Grasp the peach with left gripper + - Move the basket to the center of view with the left gripper + - Pick up the dark basket with the right gripper + - Pick up the dark basket with the left gripper + - Pick up the peach with the left gripper + - Place the peach in the dark basket with right gripper + - Place the peach in the dark basket with left gripper + - Pick up the light basket with the right gripper + - Grasp the basket with right gripper + - Put the peach into the basket + - Grasp the basket with left gripper + - Put the basket in the middle + - Grab the basket with your left arm + - Pick up the peach with the right gripper + - End + - Place the basket in the center of view with left gripper + - Place the light basket in the center of view with the right gripper + - abnormal + - Place the basket in the center of view with right gripper + - Grab the peach with your right arm + - Pick up the light basket with the left gripper + - Grasp the peach with right gripper + - Place the peach into the basket with the right gripper + - Place the peach into the basket with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_basket_storage_peach_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_box_up_down.yaml b/dataset_info/RMC-AIDA-L_box_up_down.yaml index aae98493bb56f1b485e0430b4037356d9b203740..fe4d3267eba92f7e70239303d9db375a26f043f5 100644 --- a/dataset_info/RMC-AIDA-L_box_up_down.yaml +++ b/dataset_info/RMC-AIDA-L_box_up_down.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_box_up_down +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_up_down -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the bandage with right gripper -objects: +dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-31466 -dataset_size: 383.7MB -statistics: - total_episodes: 159 - total_frames: 31466 - total_tasks: 2 - total_videos: 477 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the bandage with right gripper sub_tasks: - Grasp the bandage with right gripper - Loosen the box on the table with right gripper @@ -52,7 +59,30 @@ sub_tasks: - Grasp the bandage with left gripper - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 159 + total_frames: 31466 + total_tasks: 2 + total_videos: 477 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 31466 +dataset_size: 383.7MB +data_structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,38 +161,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_box_up_down + dataset_name: box_up_down + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the bandage with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-31466 + dataset_size: 383.7MB + statistics: *id002 + dataset_uuid: e095217a-10c3-44e6-9a26-08a1758a1243 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the bandage with right gripper + - Loosen the box on the table with right gripper + - Place the box on the table with right gripper + - Lift the box with left gripper + - Place the box on the table with left gripper + - Static + - End + - Loosen the box on the table with left gripper + - Lift the box with right gripper + - Grasp the bandage with left gripper + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/RMC-AIDA-L_clean_table.yaml b/dataset_info/RMC-AIDA-L_clean_table.yaml index ea88e1712f7fc524a30fd54fbc8e00fcd4d1ae65..284f7ef2f2b3d25ec70a98d9c07045b6877ed09b 100644 --- a/dataset_info/RMC-AIDA-L_clean_table.yaml +++ b/dataset_info/RMC-AIDA-L_clean_table.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_clean_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: clean_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- wipe -tasks: Place the rag on the table with the right gripper -objects: +dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -41,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-514178 -dataset_size: 3.5GB -statistics: - total_episodes: 776 - total_frames: 514178 - total_tasks: 4 - total_videos: 2328 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the rag on the table with the right gripper sub_tasks: - Place the rag on the table with the right gripper - Stand the paper cup upright with the left gripper @@ -72,7 +78,31 @@ sub_tasks: - Wipe the stains off the table with the right gripper - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- wipe +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -80,7 +110,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 776 + total_frames: 514178 + total_tasks: 4 + total_videos: 2328 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 514178 +dataset_size: 3.5GB +data_structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -89,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -113,38 +181,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_clean_table + dataset_name: clean_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - wipe + tasks: Place the rag on the table with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-514178 + dataset_size: 3.5GB + statistics: *id002 + dataset_uuid: ed026bcf-f342-4259-9fce-12208d2ca5b3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the rag on the table with the right gripper + - Stand the paper cup upright with the left gripper + - Grasp the paper cup with the left gripper + - Grasp the paper cup with the right gripper + - Grasp the rag with the left gripper + - Grasp the rag with the right gripper + - Wipe the stains off the table with the left gripper + - Place the rag on the table with the left gripper + - Stand the paper cup upright with the right gripper + - end + - Wipe the stains off the table with the right gripper + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_desktop_organization.yaml b/dataset_info/RMC-AIDA-L_desktop_organization.yaml index 29089d20e4c8f230b22cfc9444d27526b88d518b..8d6ccfb0b14c6c2cfc077cc0efa9c763b2c44865 100644 --- a/dataset_info/RMC-AIDA-L_desktop_organization.yaml +++ b/dataset_info/RMC-AIDA-L_desktop_organization.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_desktop_organization +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: desktop_organization -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the blue scissors into the pen holder with the right hand. -objects: +dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -100,23 +120,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-2647489 -dataset_size: 38.7GB -statistics: - total_episodes: 1660 - total_frames: 2647489 - total_tasks: 2 - total_videos: 4980 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the blue scissors into the pen holder with the right hand. sub_tasks: - Place the blue scissors into the pen holder with the right hand. - Grab the orange with the left hand. @@ -181,7 +188,30 @@ sub_tasks: - Grab the paper ball with the right hand. - end - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -189,7 +219,53 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1660 + total_frames: 2647489 + total_tasks: 2 + total_videos: 4980 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 2647489 +dataset_size: 38.7GB +data_structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -198,13 +274,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -222,62 +301,198 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ - │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ - \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ - │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ - \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ - \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ - │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ - \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ - │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ - \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ - \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_desktop_organization + dataset_name: desktop_organization + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the blue scissors into the pen holder with the right hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-2647489 + dataset_size: 38.7GB + statistics: *id002 + dataset_uuid: 66922d94-1a12-4281-bddf-1da6a26caf4c + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the blue scissors into the pen holder with the right hand. + - Grab the orange with the left hand. + - Place the blue scissors into the pen holder with the left hand. + - Pass the ruler from the right hand to the left hand. + - Place the gray spring-action pen into the pen holder with the left hand. + - Pass the blue utility knife from the left hand to the right hand. + - Put the eraser into the pen holder with the right hand. + - Grab the blue scissors with the right hand. + - Grab the blue utility knife with the left hand. + - Place the orange into the fruit bowl with the right hand. + - Grab the plastic with the right hand. + - Discard. + - Pass the water bottle from the left hand to the right hand. + - Pass the ruler from the left hand to the right hand. + - Place the gray spring-action pen into the pen holder with the right hand. + - Pass the water bottle from the right hand to the left hand. + - Place the eraser into the pen holder with the left hand. + - Grab the blue scissors with the left hand. + - Grab the ruler with the left hand. + - Grab the eraser with the right hand. + - Pass the peach from the right hand to the left hand. + - Pass the blue scissors from the right hand to the left hand. + - Pass the gray spring-action pen from the left hand to the right hand. + - Pass the eraser from the left hand to the right hand. + - Place the blue utility knife into the pen holder with the right hand. + - Place the blue utility knife into the pen holder with the left hand. + - Place the ruler into the pen holder with the left hand. + - Grab the orange with the right hand. + - Grab the plastic with the left hand. + - Grab the peach with the right hand. + - Place the paper ball into the trash can with the right hand. + - Place the orange into the fruit bowl with the left hand. + - Grab the gray glue with the right hand. + - Pass the plastic from the right hand to the left hand. + - Grab the water bottle with the left hand. + - Pass the gray glue from the left hand to the right hand. + - Pass the paper ball from the left hand to the right hand. + - Pass the plastic from the left hand to the right hand. + - Grab the blue utility knife with the right hand. + - Pass the orange from the right hand to the left hand. + - Grab the paper ball with the left hand. + - Pass the blue scissors from the left hand to the right hand. + - Place the ruler into the pen holder with the right hand. + - Place the peach into the fruit bowl with the right hand. + - Place the water bottle on the table with the left hand. + - Grab the eraser with the left hand. + - Pass the gray glue from the right hand to the left hand. + - Grab the gray spring-action pen with the left hand. + - Pass the blue utility knife from the right hand to the left hand. + - Place the peach into the fruit bowl with the left hand. + - Grab the gray spring-action pen with the right hand. + - Grab the gray glue with the left hand. + - Place the water bottle on the table with the right hand. + - Grab the ruler with the right hand. + - Grab the water bottle with the right hand. + - Place the gray glue into the pen holder with the right hand. + - Grab the peach with the left hand. + - Place the plastic into the trash can with the right hand. + - Pass the gray spring-action pen from the right hand to the left hand. + - Place the gray glue into the pen holder with the left hand. + - Grab the paper ball with the right hand. + - end + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "RMC-AIDA-L_desktop_organization_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/RMC-AIDA-L_fold_shirt.yaml b/dataset_info/RMC-AIDA-L_fold_shirt.yaml index 40cc353a83ca0593ecddb5264f949aa1e437717f..f49ed8a0d133b58e897daf6f5540f3ef021d4a9c 100644 --- a/dataset_info/RMC-AIDA-L_fold_shirt.yaml +++ b/dataset_info/RMC-AIDA-L_fold_shirt.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_fold_shirt +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_shirt -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- fold -- place -tasks: Fold the lower left sleeve with the left hand. -objects: +dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-3512125 -dataset_size: 29.7GB -statistics: - total_episodes: 1487 - total_frames: 3512125 - total_tasks: 6 - total_videos: 4461 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Fold the lower left sleeve with the left hand. sub_tasks: - Fold the lower left sleeve with the left hand. - Fold the lower left sleeve to the left. @@ -63,7 +69,31 @@ sub_tasks: - Fold the clothes to the left. - Push the clothes with the left hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- fold +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -71,70 +101,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1487 + total_frames: 3512125 + total_tasks: 6 + total_videos: 4461 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 3512125 +dataset_size: 29.7GB +data_structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ @@ -163,3 +141,198 @@ structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_fold_shirt + dataset_name: fold_shirt + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - fold + - place + tasks: Fold the lower left sleeve with the left hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-3512125 + dataset_size: 29.7GB + statistics: *id002 + dataset_uuid: bbe55f1a-041d-4956-b4a9-17c9457510aa + language: *id003 + task_categories: *id004 + sub_tasks: + - Fold the lower left sleeve with the left hand. + - Fold the lower left sleeve to the left. + - Fold the clothes with the right hand. + - Fold the clothes to the right. + - Press the middle of the clothes with the right hand. + - Pull the clothes with the right hand. + - Discard. + - Grab the upper right corner of the clothes with the right hand. + - Grab the lower left corner of the clothes with the left hand. + - Fold the lower right sleeve to the right. + - Pull the clothes to the left. + - Pull the clothes with the left hand. + - Fold the clothes with the left hand. + - Push the clothes to the left. + - Grab the upper left corner of the clothes with the left hand. + - Pull the clothes to the right. + - Grab the lower right corner of the clothes with the right hand. + - Fold the lower right sleeve with the right hand. + - end + - Fold the clothes to the left. + - Push the clothes with the left hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/RMC-AIDA-L_fold_shorts.yaml b/dataset_info/RMC-AIDA-L_fold_shorts.yaml index 96e79d9a5ca0676552eede51dd6e11ca7e1895d4..9221aae049805db767fcf138604c2ea0d363fd85 100644 --- a/dataset_info/RMC-AIDA-L_fold_shorts.yaml +++ b/dataset_info/RMC-AIDA-L_fold_shorts.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_fold_shorts +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_shorts -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- fold -- place -tasks: Grab the lower left pant leg with your left hand. -objects: +dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-730046 -dataset_size: 9.5GB -statistics: - total_episodes: 866 - total_frames: 730046 - total_tasks: 4 - total_videos: 2598 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab the lower left pant leg with your left hand. sub_tasks: - Grab the lower left pant leg with your left hand. - Grab the lower right pant leg with your right hand. @@ -70,7 +76,31 @@ sub_tasks: - Adjust the pants with your left hand. - Press the middle of the pants with your right hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- fold +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -78,7 +108,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 866 + total_frames: 730046 + total_tasks: 4 + total_videos: 2598 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 730046 +dataset_size: 9.5GB +data_structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -87,13 +152,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -111,38 +179,139 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_fold_shorts + dataset_name: fold_shorts + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - fold + - place + tasks: Grab the lower left pant leg with your left hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-730046 + dataset_size: 9.5GB + statistics: *id002 + dataset_uuid: 5f973d3e-d7a6-40c1-8ecc-0a4a158505f7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab the lower left pant leg with your left hand. + - Grab the lower right pant leg with your right hand. + - Fold the bottom of the shorts upward with right gripper + - Fold the pants from right to left with the right gripper + - Hold the waistband with your left hand. + - Hold the lower right waistband with your right hand. + - Grab the waistband with your right hand. + - Fold to the right with your left hand. + - Press the middle of the pants with your left hand. + - Fold upward with your left hand. + - Fold to the left with your right hand. + - Hold the lower left waistband with your left hand. + - Place the folded trousers onto the center area with the right grippers + - Place the folded trousers onto the center area with right gripper + - Place the folded trousers onto the center area with the left grippers + - Grasp the right lower side of the waistband of the shorts with right gripper + - end + - Anomaly detected. + - Grasp the lower left leg of the shorts with left gripper + - Fold the shorts from right to left with right gripper + - abnormal + - Fold the pants from left to right with the left gripper + - Fold the bottom of the shorts upward with left gripper + - Fold the bottom of the pants upward with both grippers + - Adjust the pants with your right hand. + - Fold upward with your right hand. + - Adjust the pants with your left hand. + - Press the middle of the pants with your right hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_fold_towel.yaml b/dataset_info/RMC-AIDA-L_fold_towel.yaml index 83063f42d83d7ce9db9aa03bbd6f0172e1fd810a..9a231f9882b190f228e297b541f945af8de8586e 100644 --- a/dataset_info/RMC-AIDA-L_fold_towel.yaml +++ b/dataset_info/RMC-AIDA-L_fold_towel.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_fold_towel +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_towel -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- unfold -tasks: End -objects: +dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-139069 -dataset_size: 1.5GB -statistics: - total_episodes: 314 - total_frames: 139069 - total_tasks: 2 - total_videos: 942 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Press and secure one corner of the towel with the right arm @@ -49,7 +55,31 @@ sub_tasks: - Unfold the towel with the left gripper - Unfold the towel with the right arm - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- unfold +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 314 + total_frames: 139069 + total_tasks: 2 + total_videos: 942 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 139069 +dataset_size: 1.5GB +data_structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,38 +157,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_fold_towel + dataset_name: fold_towel + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - unfold + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-139069 + dataset_size: 1.5GB + statistics: *id002 + dataset_uuid: 189eaf6e-2609-4e71-8e6e-e6393a5d259e + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Press and secure one corner of the towel with the right arm + - Unfold the towel with the left arm + - Press and secure one corner of the towel with the left arm + - Press and secure one corner of the towel with the right gripper + - Unfold the towel with the left gripper + - Unfold the towel with the right arm + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_food_packaging.yaml b/dataset_info/RMC-AIDA-L_food_packaging.yaml index f7adce7c0569d1108c2987d0d353c0c1a8d3710a..0fdca25bdf5f0240ab6ebd43eca9a84d821124d5 100644 --- a/dataset_info/RMC-AIDA-L_food_packaging.yaml +++ b/dataset_info/RMC-AIDA-L_food_packaging.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_food_packaging +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: food_packaging -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pull -tasks: Grab the pear with your right hand. -objects: +dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -53,23 +72,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-817652 -dataset_size: 9.4GB -statistics: - total_episodes: 497 - total_frames: 817652 - total_tasks: 2 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab the pear with your right hand. sub_tasks: - Grab the pear with your right hand. - Pick up the lunch box with your right hand. @@ -87,7 +93,31 @@ sub_tasks: - Place the pear into the lunch bag with your right hand. - Grab the peach with your right hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -95,7 +125,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 497 + total_frames: 817652 + total_tasks: 2 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 817652 +dataset_size: 9.4GB +data_structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -104,13 +169,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -128,39 +196,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_food_packaging + dataset_name: food_packaging + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pull + tasks: Grab the pear with your right hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-817652 + dataset_size: 9.4GB + statistics: *id002 + dataset_uuid: 59eb8786-4e0e-4c5e-b129-aec36ec1eda9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab the pear with your right hand. + - Pick up the lunch box with your right hand. + - end + - Put the cucumber into the lunch bag with your right hand. + - Hold the lunch bag with your left hand. + - Secure the lunch bag with your left hand. + - Pick up the cucumber with your right hand. + - Hold the lunch bag with your right hand. + - Take the banana with your right hand. + - Place the lunch box into the lunch bag with your right hand. + - Place the peach into the lunch bag with your right hand. + - Zip up the lunch bag with your right hand. + - Put the banana into the lunch bag with your right hand. + - Place the pear into the lunch bag with your right hand. + - Grab the peach with your right hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_food_storage.yaml b/dataset_info/RMC-AIDA-L_food_storage.yaml index 6ef9c477f3ce13ffb6043a68e345157a0ddc6a85..80e78f0659aefc500d27da299ed14ace05153eb2 100644 --- a/dataset_info/RMC-AIDA-L_food_storage.yaml +++ b/dataset_info/RMC-AIDA-L_food_storage.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_food_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: food_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Lift the woven bag with the left gripper to open it -objects: +dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -46,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-274806 -dataset_size: 2.5GB -statistics: - total_episodes: 499 - total_frames: 274806 - total_tasks: 12 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Lift the woven bag with the left gripper to open it sub_tasks: - Lift the woven bag with the left gripper to open it - Lower the woven bag with the left gripper to close it @@ -77,7 +84,30 @@ sub_tasks: - Place the orange into the woven bag with the right gripper - Pick up the peach with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -85,7 +115,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 499 + total_frames: 274806 + total_tasks: 12 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 274806 +dataset_size: 2.5GB +data_structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -94,13 +159,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -118,38 +186,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_food_storage + dataset_name: food_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Lift the woven bag with the left gripper to open it + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-274806 + dataset_size: 2.5GB + statistics: *id002 + dataset_uuid: f217b0c1-9f1e-4598-9845-0a85906dadf6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Lift the woven bag with the left gripper to open it + - Lower the woven bag with the left gripper to close it + - abnormal + - Place the egg yolk pastry into the woven bag with the right gripper + - Place the peach into the woven bag with the right gripper + - Pick up the orange with the right gripper + - Pick up the egg yolk pastry with the right gripper + - Pick up the bread with the right gripper + - end + - Place the bread into the woven bag with the right gripper + - Place the orange into the woven bag with the right gripper + - Pick up the peach with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_fruit_storage.yaml b/dataset_info/RMC-AIDA-L_fruit_storage.yaml index f46e120bfe385f7af08a0e69bcef08e76f7bfa98..40e70034b5f53cb0ebf3711af836726ff6d6f2e2 100644 --- a/dataset_info/RMC-AIDA-L_fruit_storage.yaml +++ b/dataset_info/RMC-AIDA-L_fruit_storage.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_fruit_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fruit_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -40,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-291785 -dataset_size: 2.6GB -statistics: - total_episodes: 521 - total_frames: 291785 - total_tasks: 2 - total_videos: 1563 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the grape in the purple plate with left gripper @@ -74,7 +81,30 @@ sub_tasks: - Abnormal - Grasp the banana with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -82,7 +112,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 521 + total_frames: 291785 + total_tasks: 2 + total_videos: 1563 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 291785 +dataset_size: 2.6GB +data_structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -91,13 +156,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -115,38 +183,125 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_fruit_storage + dataset_name: fruit_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-291785 + dataset_size: 2.6GB + statistics: *id002 + dataset_uuid: 8276223a-988a-4a97-8459-97f7c498cbb5 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the grape in the purple plate with left gripper + - Grasp the grape with right gripper + - Place the banana in the purple plate with right gripper + - Place the banana in the blue bowl with left gripper + - Grasp the banana with right gripper + - Grasp the grape with left gripper + - Place the bowl on the table with right gripper + - Place the grape in the purple plate with right gripper + - Place the banana in the purple plate with left gripper + - Lift the blue bowl with right gripper + - Grasp the blue bowl with right gripper + - Static + - Abnormal + - Grasp the banana with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_get_water.yaml b/dataset_info/RMC-AIDA-L_get_water.yaml index 60f0717ad89912fcd675f7674b6e3f7933b0b3b5..499a938d912cf08e226cda17ed9a7cb8a8b19e16 100644 --- a/dataset_info/RMC-AIDA-L_get_water.yaml +++ b/dataset_info/RMC-AIDA-L_get_water.yaml @@ -1,17 +1,35 @@ -path: RMC-AIDA-L_get_water +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: get_water -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- hold -- push -tasks: Move the cup beneath the water dispenser nozzle with the right gripper -objects: +dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -36,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-327536 -dataset_size: 2.8GB -statistics: - total_episodes: 333 - total_frames: 327536 - total_tasks: 3 - total_videos: 999 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move the cup beneath the water dispenser nozzle with the right gripper sub_tasks: - Move the cup beneath the water dispenser nozzle with the right gripper - Close the dispenser valve with the right gripper @@ -63,7 +68,32 @@ sub_tasks: - Move the cup beneath the water dispenser nozzle with the left gripper - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- hold +- push +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -71,7 +101,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 333 + total_frames: 327536 + total_tasks: 3 + total_videos: 999 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 327536 +dataset_size: 2.8GB +data_structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -80,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -104,38 +171,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_get_water + dataset_name: get_water + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - hold + - push + tasks: Move the cup beneath the water dispenser nozzle with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-327536 + dataset_size: 2.8GB + statistics: *id002 + dataset_uuid: 2a2cc6a7-ac07-494e-9b05-0a437532bdb1 + language: *id003 + task_categories: *id004 + sub_tasks: + - Move the cup beneath the water dispenser nozzle with the right gripper + - Close the dispenser valve with the right gripper + - Open the dispenser valve and fill the cup with water with the right gripper + - Close the dispenser valve with the left gripper + - Open the dispenser valve and fill the cup with water with the left gripper + - end + - Move the cup beneath the water dispenser nozzle with the left gripper + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_glasses_storage.yaml b/dataset_info/RMC-AIDA-L_glasses_storage.yaml index c50b72d692a11b99db4ef3f224c778f20d727eca..ef7d092330bef4bb615b8ff138469d36038e6cab 100644 --- a/dataset_info/RMC-AIDA-L_glasses_storage.yaml +++ b/dataset_info/RMC-AIDA-L_glasses_storage.yaml @@ -1,17 +1,35 @@ -path: RMC-AIDA-L_glasses_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: glasses_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- fold -- close -- place -tasks: Place the glasses case in the center of the table with your left hand. -objects: +dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -30,23 +48,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-861465 -dataset_size: 8.6GB -statistics: - total_episodes: 990 - total_frames: 861465 - total_tasks: 4 - total_videos: 2970 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the glasses case in the center of the table with your left + hand. sub_tasks: - Place the glasses case in the center of the table with your left hand. - Grab the glasses case with your left hand. @@ -67,7 +73,32 @@ sub_tasks: - Grab the glasses with your left hand. - Grab the glasses case with your right hand. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- fold +- close +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +106,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 990 + total_frames: 861465 + total_tasks: 4 + total_videos: 2970 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 861465 +dataset_size: 8.6GB +data_structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +150,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,39 +177,130 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_glasses_storage + dataset_name: glasses_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - fold + - close + - place + tasks: Place the glasses case in the center of the table with your left hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-861465 + dataset_size: 8.6GB + statistics: *id002 + dataset_uuid: 3f805357-8df7-41c3-aa00-a08b08e0915c + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the glasses case in the center of the table with your left hand. + - Grab the glasses case with your left hand. + - Lift the glasses with your right hand. + - Put the glasses into the case with your right hand. + - Discard. + - Grab the eyeglass frame with your right hand. + - Put the glasses into the case with your left hand. + - end + - Place the glasses on the table with your left hand. + - Close the glasses case with your left hand. + - Grab the frame with your right hand. + - Lift the glasses with your left hand. + - Fold the frame with your right hand. + - Place the glasses case in the center of the table with your right hand. + - Close the glasses case with your right hand. + - Fold the frame with your left hand. + - Grab the glasses with your left hand. + - Grab the glasses case with your right hand. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml index a048751a80debd54e67f6a635d7c4deef9803d6c..1cbe0747f10731f75c7e0497542f76994aefd64f 100644 --- a/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml +++ b/dataset_info/RMC-AIDA-L_organise_the_document_bag.yaml @@ -1,17 +1,35 @@ -path: RMC-AIDA-L_organise_the_document_bag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: organise_the_document_bag -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- pull -tasks: Pulling up the zipper on the transparent plastic bag with the right gripper - to close it -objects: +dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -24,23 +42,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-225360 -dataset_size: 2.0GB -statistics: - total_episodes: 480 - total_frames: 225360 - total_tasks: 4 - total_videos: 1440 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pulling up the zipper on the transparent plastic bag with the right + gripper to close it sub_tasks: - Pulling up the zipper on the transparent plastic bag with the right gripper to close it @@ -52,7 +58,31 @@ sub_tasks: - Place the transparent plastic bag with the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- pull +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 480 + total_frames: 225360 + total_tasks: 4 + total_videos: 1440 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 225360 +dataset_size: 2.0GB +data_structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,40 +161,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_organise_the_document_bag + dataset_name: organise_the_document_bag + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - pull + tasks: Pulling up the zipper on the transparent plastic bag with the right gripper + to close it + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-225360 + dataset_size: 2.0GB + statistics: *id002 + dataset_uuid: 327e0fe7-1be9-4724-b1ae-f511d8ab7f6b + language: *id003 + task_categories: *id004 + sub_tasks: + - Pulling up the zipper on the transparent plastic bag with the right gripper to + close it + - Pulling up the zipper on the transparent plastic bag with the left gripper to + close it + - Pick up the transparent plastic bag with the left gripper + - Pick up the transparent plastic bag with the right gripper + - Place the transparent plastic bag + - Place the transparent plastic bag with the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_place_test_tube.yaml b/dataset_info/RMC-AIDA-L_place_test_tube.yaml index a40959676c0fb5e073c083a7ddba14a496246ab9..e1d70f7cca21a6b026a1c0cf04954def6aad071a 100644 --- a/dataset_info/RMC-AIDA-L_place_test_tube.yaml +++ b/dataset_info/RMC-AIDA-L_place_test_tube.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_place_test_tube +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_test_tube -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- move -tasks: "Place the test tube on the test tube rack with the left gripper \uFEFF" -objects: +dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-365863 -dataset_size: 4.0GB -statistics: - total_episodes: 648 - total_frames: 365863 - total_tasks: 1 - total_videos: 1944 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: "Place the test tube on the test tube rack with the left gripper\ + \ \uFEFF" sub_tasks: - "Place the test tube on the test tube rack with the left gripper \uFEFF" - End @@ -59,7 +66,31 @@ sub_tasks: - Place the test tubes on the test tube rack with the right gripper - Pass the test tube from the right gripper to the left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- move +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 648 + total_frames: 365863 + total_tasks: 1 + total_videos: 1944 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 365863 +dataset_size: 4.0GB +data_structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,39 +169,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_place_test_tube + dataset_name: place_test_tube + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - move + tasks: "Place the test tube on the test tube rack with the left gripper \uFEFF" + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-365863 + dataset_size: 4.0GB + statistics: *id002 + dataset_uuid: 7ed8e496-1917-4844-a0f7-98fe52c1477d + language: *id003 + task_categories: *id004 + sub_tasks: + - "Place the test tube on the test tube rack with the left gripper \uFEFF" + - End + - Pass the test tube from the left gripper to the right gripper + - "pick up the test tube with the right gripper \uFEFF" + - Place the test tubes on the test tube rack with the left gripper + - "move the test tube from the right gripper to the left gripper \uFEFF" + - Pick up the test tube with the right gripper + - Grasp the arch-shaped block with the left gripper + - Pick up the test tube with the left gripper + - Place the test tubes on the test tube rack with the right gripper + - Pass the test tube from the right gripper to the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml index e03ba4ce326da2a518e303ba3e26046202b331f9..da9cc5e6ef6ed1490e1ca97c182a4734ecde4ed4 100644 --- a/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml +++ b/dataset_info/RMC-AIDA-L_place_the_fruits_repeatedly.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_place_the_fruits_repeatedly +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_fruits_repeatedly -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- pour -tasks: Pick up the bowl with the left gripper -objects: +dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -47,23 +66,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-541540 -dataset_size: 3.7GB -statistics: - total_episodes: 481 - total_frames: 541540 - total_tasks: 8 - total_videos: 1443 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the bowl with the left gripper sub_tasks: - Pick up the bowl with the left gripper - Place the bread into the bowl @@ -82,7 +88,31 @@ sub_tasks: - Place the orange into the bowl - Pick up the orange with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -90,7 +120,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 481 + total_frames: 541540 + total_tasks: 8 + total_videos: 1443 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 541540 +dataset_size: 3.7GB +data_structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -99,13 +164,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -123,40 +191,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_place_the_fruits_repeatedly + dataset_name: place_the_fruits_repeatedly + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - pour + tasks: Pick up the bowl with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-541540 + dataset_size: 3.7GB + statistics: *id002 + dataset_uuid: 3448d8ea-8209-43cf-bfcc-550863a26b13 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the bowl with the left gripper + - Place the bread into the bowl + - abnormal + - Pick up the egg yolk pastry with the right gripper + - Pour the egg yolk pastry out of bowl + - Pour the orange out of the bowl + - Place the peach into the bowl + - Pour the peach out of bowl + - Place the egg yolk pastry into the bowl + - Pick up the bread with the right gripper + - Pick up the peach with the right gripper + - Pour the bread out of the bowl + - end + - Place the bowl on the table + - Place the orange into the bowl + - Pick up the orange with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_place_towel.yaml b/dataset_info/RMC-AIDA-L_place_towel.yaml index 8719df7dd2efc38dab8f6099ca9633a80bab8ade..9ed89db61823b6108d4c502cf4de17dfacf69d5f 100644 --- a/dataset_info/RMC-AIDA-L_place_towel.yaml +++ b/dataset_info/RMC-AIDA-L_place_towel.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_place_towel +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_towel -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-281308 -dataset_size: 4.8GB -statistics: - total_episodes: 398 - total_frames: 281308 - total_tasks: 2 - total_videos: 1194 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Spread the towel flat with the left gripper @@ -48,7 +55,30 @@ sub_tasks: - Pick up a towel with the right gripper - Spread the towel flat with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -56,7 +86,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 398 + total_frames: 281308 + total_tasks: 2 + total_videos: 1194 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 281308 +dataset_size: 4.8GB +data_structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -65,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -89,38 +157,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_place_towel + dataset_name: place_towel + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-281308 + dataset_size: 4.8GB + statistics: *id002 + dataset_uuid: 666a0109-3399-4955-b2fb-66509139637f + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Spread the towel flat with the left gripper + - Abnormal + - Pick up a towel with the left gripper + - Static + - Pick up a towel with the right gripper + - Spread the towel flat with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_plate_storage.yaml b/dataset_info/RMC-AIDA-L_plate_storage.yaml index d3763fb6fa5239ec829d586b8ccbbfdb480846b4..f6dd3efb50a59237f155e158ba34a5f60534b938 100644 --- a/dataset_info/RMC-AIDA-L_plate_storage.yaml +++ b/dataset_info/RMC-AIDA-L_plate_storage.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_plate_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the plate on the shelf with the right gripper -objects: +dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-284602 -dataset_size: 1.8GB -statistics: - total_episodes: 498 - total_frames: 284602 - total_tasks: 2 - total_videos: 1494 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the plate on the shelf with the right gripper sub_tasks: - Place the plate on the shelf with the right gripper - End @@ -55,7 +62,30 @@ sub_tasks: - Place the plate on the shelf with the left gripper - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 498 + total_frames: 284602 + total_tasks: 2 + total_videos: 1494 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 284602 +dataset_size: 1.8GB +data_structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,38 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_plate_storage + dataset_name: plate_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the plate on the shelf with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-284602 + dataset_size: 1.8GB + statistics: *id002 + dataset_uuid: 8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the plate on the shelf with the right gripper + - End + - Pick up the plate with the right gripper + - Pick up the plate with the left gripper + - Pass the plate from the left gripper to the right gripper + - Pass the plate from the right gripper to the left gripper + - Place the plate on the shelf with the left gripper + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml index bd8ea69582fb864efae36a98fade585fade674a1..8ad7a327fc186f2494af8ee33320c7a098be683c 100644 --- a/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml +++ b/dataset_info/RMC-AIDA-L_pour_coffee_beans.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_pour_coffee_beans +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_coffee_beans -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- takeout -tasks: Place the spoon back in its original place with the right gripper -objects: +dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -59,23 +78,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-352789 -dataset_size: 1.8GB -statistics: - total_episodes: 493 - total_frames: 352789 - total_tasks: 8 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the spoon back in its original place with the right gripper sub_tasks: - Place the spoon back in its original place with the right gripper - Scoop a spoonful of beans into the cup with the right gripper @@ -84,7 +90,31 @@ sub_tasks: - Move the cup to the center of view with the left gripper - end - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- takeout +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -92,7 +122,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 493 + total_frames: 352789 + total_tasks: 8 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 352789 +dataset_size: 1.8GB +data_structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -101,13 +166,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -125,40 +193,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_pour_coffee_beans + dataset_name: pour_coffee_beans + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - takeout + tasks: Place the spoon back in its original place with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-352789 + dataset_size: 1.8GB + statistics: *id002 + dataset_uuid: aa202f76-162f-44a2-aa83-c8448ab991e2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the spoon back in its original place with the right gripper + - Scoop a spoonful of beans into the cup with the right gripper + - abnormal + - Pick up the spoon with the right gripper + - Move the cup to the center of view with the left gripper + - end + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_pour_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_pour_rice.yaml b/dataset_info/RMC-AIDA-L_pour_rice.yaml index 75c502e5d45de62f200c5b61cd1c108d97b3996a..b3e2deda0749d3360d7714de81ca0b60746c532b 100644 --- a/dataset_info/RMC-AIDA-L_pour_rice.yaml +++ b/dataset_info/RMC-AIDA-L_pour_rice.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_pour_rice +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_rice -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -- pour -tasks: Pick up the cup with rice in it with the left gripper -objects: +dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-413739 -dataset_size: 2.9GB -statistics: - total_episodes: 714 - total_frames: 413739 - total_tasks: 2 - total_videos: 2142 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the cup with rice in it with the left gripper sub_tasks: - Pick up the cup with rice in it with the left gripper - End @@ -69,7 +75,31 @@ sub_tasks: - Grasp the cup with rice in it with right gripper - abnormal - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -77,7 +107,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 714 + total_frames: 413739 + total_tasks: 2 + total_videos: 2142 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 413739 +dataset_size: 2.9GB +data_structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -86,13 +150,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -110,38 +177,126 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_pour_rice + dataset_name: pour_rice + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + - pour + tasks: Pick up the cup with rice in it with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-413739 + dataset_size: 2.9GB + statistics: *id002 + dataset_uuid: c79b49bf-cadf-4094-831d-bbf6403956c6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the cup with rice in it with the left gripper + - End + - Move the bowl in the center of view with left gripper + - Pick up the bowl with the left gripper + - Place the cup on the table with the right gripper + - Pour the rice from the cup into the bowl with the left gripper + - Place the bowl in the center of view with the right gripper + - Static + - Place the cup on the table with the left gripper + - Pour the rice from the cup into the bowl with the right gripper + - Pick up the cup with rice in it with the right gripper + - Pick up the bowl with the right gripper + - Place the bowl in the center of view with the left gripper + - Grasp the cup with rice in it with right gripper + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_pour_tea.yaml b/dataset_info/RMC-AIDA-L_pour_tea.yaml index fd1ae7dff44582d1b2b2f0c00ffebc023777f264..2f1a6dab832c93693a0ab6d421cddd025b6f58b4 100644 --- a/dataset_info/RMC-AIDA-L_pour_tea.yaml +++ b/dataset_info/RMC-AIDA-L_pour_tea.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_pour_tea +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_tea -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- pour -tasks: Pour tea into the teacup with the light gripper -objects: +dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-547759 -dataset_size: 4.0GB -statistics: - total_episodes: 790 - total_frames: 547759 - total_tasks: 2 - total_videos: 2370 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pour tea into the teacup with the light gripper sub_tasks: - Pour tea into the teacup with the light gripper - Pour tea into the teacup with the right gripper @@ -67,7 +73,31 @@ sub_tasks: - Put down the teapot with the right gripper - Place the teacup in the center of view with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -75,7 +105,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 790 + total_frames: 547759 + total_tasks: 2 + total_videos: 2370 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 547759 +dataset_size: 4.0GB +data_structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -84,13 +148,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -108,38 +175,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_pour_tea + dataset_name: pour_tea + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - pour + tasks: Pour tea into the teacup with the light gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-547759 + dataset_size: 4.0GB + statistics: *id002 + dataset_uuid: 25f997d1-8e07-4035-b14f-0b3219460e17 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pour tea into the teacup with the light gripper + - Pour tea into the teacup with the right gripper + - end + - abnormal + - Pour tea into the teacup with the left gripper + - Pick up the teacup with the right gripper + - Put down the teapot with the left gripper + - Pick up the teacup with the left gripper + - Pick up the teapot with the right gripper + - Place the teacup in the center of view with the left gripper + - Pick up the teapot with the left gripper + - Put down the teapot with the right gripper + - Place the teacup in the center of view with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_pull_open_bag.yaml b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml index f2906ce0788f392c4740dc77d50adf3b357fbe4d..3ca2ded4967a388e36d525fb351f6f01005a96c5 100644 --- a/dataset_info/RMC-AIDA-L_pull_open_bag.yaml +++ b/dataset_info/RMC-AIDA-L_pull_open_bag.yaml @@ -1,16 +1,35 @@ -path: RMC-AIDA-L_pull_open_bag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pull_open_bag -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pull -- zip -- up -tasks: Grab the zipper with your left hand. -objects: +dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-684327 -dataset_size: 8.3GB -statistics: - total_episodes: 1396 - total_frames: 684327 - total_tasks: 5 - total_videos: 4188 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grab the zipper with your left hand. sub_tasks: - Grab the zipper with your left hand. - Abnormal @@ -61,7 +67,31 @@ sub_tasks: - Pull up the zipper with your right hand. - Discard. - 'null' -annotations: +atomic_actions: +- grasp +- pull +- zip +- up +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -69,7 +99,53 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1396 + total_frames: 684327 + total_tasks: 5 + total_videos: 4188 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 684327 +dataset_size: 8.3GB +data_structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -78,13 +154,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -102,62 +181,149 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_pull_open_bag + dataset_name: pull_open_bag + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pull + - zip + - up + tasks: Grab the zipper with your left hand. + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-684327 + dataset_size: 8.3GB + statistics: *id002 + dataset_uuid: 4363efec-236f-4495-a86b-14c3a5d20345 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grab the zipper with your left hand. + - Abnormal + - Place the bag on the table with left gripper + - Pull open the zipper with your right hand. + - Grab the bag with your left hand. + - Static + - Unzip the zipper of bag with right gripper + - End + - Pick up the bag with left gripper + - Pick up the bag with right gripper + - Deliver the bag from right gripper to left gripper + - Pull up the zipper with your right hand. + - Discard. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_stack_baskets.yaml b/dataset_info/RMC-AIDA-L_stack_baskets.yaml index c66f71fe9b9d36ab0f6550750ba4e7f009b13d2a..2ac1399ca511e480284f367fac113121d668f821 100644 --- a/dataset_info/RMC-AIDA-L_stack_baskets.yaml +++ b/dataset_info/RMC-AIDA-L_stack_baskets.yaml @@ -1,29 +1,46 @@ -path: RMC-AIDA-L_stack_baskets -dataset_name: stack_baskets -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: [] -tasks: Pick up the light basket with the right gripper -objects: [] -operation_platform_height: 77.2 -frame_range: 0-278342 -dataset_size: 3.8GB -statistics: - total_episodes: 484 - total_frames: 278342 - total_tasks: 2 - total_videos: 1452 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 -language: +task_categories: &id003 +- robotics +language: &id002 - en - zh -task_categories: -- robotics +tags: &id006 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: stack_baskets +dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: + object_name: object_name + color: color + level1: object + level2: object + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the light basket with the right gripper sub_tasks: - Pick up the light basket with the right gripper - Place the light basket in the center of the table with left gripper @@ -40,7 +57,27 @@ sub_tasks: - Grasp the light basket with left gripper - Place the light basket on the dark basket with the right gripper - 'null' -annotations: +atomic_actions: [] +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id004 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -48,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id001 + total_episodes: 484 + total_frames: 278342 + total_tasks: 2 + total_videos: 1452 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 278342 +dataset_size: 3.8GB +data_structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ + │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id005 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -57,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -81,40 +156,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ - │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ - ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ - │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ - │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_stack_baskets + dataset_name: stack_baskets + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: [] + tasks: Pick up the light basket with the right gripper + objects: [] + operation_platform_height: 77.2 + frame_range: 0-278342 + dataset_size: 3.8GB + statistics: *id001 + dataset_uuid: d4c26606-f766-48ca-befd-dbdeead83a95 + language: *id002 + task_categories: *id003 + sub_tasks: + - Pick up the light basket with the right gripper + - Place the light basket in the center of the table with left gripper + - Pick up the dark basket with the left gripper + - Pick up the dark basket with the right gripper + - abnormal + - Grasp the dark basket with right gripper + - Place the dark basket in the center of view with the left gripper + - Pick up the light basket with the left gripper + - End + - Place the dark basket on the light basket with right gripper + - Place the light basket in the center of view with the left gripper + - Place the dark basket on the light basket with the right gripper + - Grasp the light basket with left gripper + - Place the light basket on the dark basket with the right gripper + - 'null' + annotations: *id004 + authors: *id005 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id006 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ + │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n\ + ├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n\ + │ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_stir_coffee.yaml b/dataset_info/RMC-AIDA-L_stir_coffee.yaml index bab03ac9ebb713e41622f70acc322adf0cf2396b..06a18e59dcd8025a783bb8a39754c1497118a511 100644 --- a/dataset_info/RMC-AIDA-L_stir_coffee.yaml +++ b/dataset_info/RMC-AIDA-L_stir_coffee.yaml @@ -1,17 +1,35 @@ -path: RMC-AIDA-L_stir_coffee +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stir_coffee -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- take -- put -- move -- stir -tasks: Stir the coffee in the cup with the right gripper -objects: +dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -36,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-555807 -dataset_size: 3.6GB -statistics: - total_episodes: 767 - total_frames: 555807 - total_tasks: 8 - total_videos: 2301 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Stir the coffee in the cup with the right gripper sub_tasks: - Stir the coffee in the cup with the right gripper - Stir the coffee with right gripper @@ -70,7 +75,32 @@ sub_tasks: - Pick up the spoon with the left gripper - Pick up the spoon with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- take +- put +- move +- stir +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -78,7 +108,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 767 + total_frames: 555807 + total_tasks: 8 + total_videos: 2301 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 555807 +dataset_size: 3.6GB +data_structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -87,13 +152,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -111,38 +179,127 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_stir_coffee + dataset_name: stir_coffee + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - take + - put + - move + - stir + tasks: Stir the coffee in the cup with the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-555807 + dataset_size: 3.6GB + statistics: *id002 + dataset_uuid: ee676d19-f3d4-4c11-bb83-9a2474cf77c5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Stir the coffee in the cup with the right gripper + - Stir the coffee with right gripper + - Abnormal + - Move the cup with coffee to the center of view with the right gripper + - Static + - Move the cup in the center of the table with right gripper + - Grasp the spoon with left gripper + - Move the cup with coffee to the center of view with the left gripper + - Stir the coffee in the cup with the left gripper + - Grasp the spoon with right gripper + - End + - Stir the coffee with left gripper + - Move the cup in the center of the table with left gripper + - Pick up the spoon with the left gripper + - Pick up the spoon with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml index f1aa7caa808b305302ee98812d6fb28993178153..3c3d4e39a8803e3a74086810a74dd65ae731db94 100644 --- a/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml +++ b/dataset_info/RMC-AIDA-L_storage_bin_storage.yaml @@ -1,15 +1,35 @@ -path: RMC-AIDA-L_storage_bin_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: storage_bin_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the orange block in the storage box with left gripper -objects: +dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-914776 -dataset_size: 15.7GB -statistics: - total_episodes: 302 - total_frames: 914776 - total_tasks: 1 - total_videos: 906 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the orange block in the storage box with left gripper sub_tasks: - Place the orange block in the storage box with left gripper - Place the white block in the storage box with left gripper @@ -88,7 +95,30 @@ sub_tasks: - Grasp the orange block with right gripper - Grasp the dark blue block with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -96,7 +126,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 302 + total_frames: 914776 + total_tasks: 1 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 914776 +dataset_size: 15.7GB +data_structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -105,13 +170,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -129,40 +197,145 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: RMC-AIDA-L_storage_bin_storage + dataset_name: storage_bin_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the orange block in the storage box with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-914776 + dataset_size: 15.7GB + statistics: *id002 + dataset_uuid: 257289bb-b38e-411f-a2d0-d787e9f12419 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the orange block in the storage box with left gripper + - Place the white block in the storage box with left gripper + - Place the red block in the storage box with left gripper + - Grasp the green block with left gripper + - Grasp the dark blue block with right gripper + - Grasp the orange block with left gripper + - Place the white block in the storage box with right gripper + - Place the green block and red block in the storage box with left gripper + - Grasp the cup with left gripper + - Place the dark blue block in the storage box with left gripper + - Grasp the orange block and white block with left gripper + - Grasp the light blue block with right gripper + - Place the green block in the storage box with right gripper + - Place the light blue block in the storage box with left gripper + - Grasp the red block with left gripper + - Grasp the white block with right gripper + - Place the orange block in the storage box with right gripper + - Grasp the green block and red block with left gripper + - Place the green block in the storage box with left gripper + - Grasp the cup with right gripper + - Abnormal + - Place the red block in the storage box with right gripper + - Place the cup in the storage box with left gripper + - Grasp the light blue block with left gripper + - Place the light blue block in the storage box with right gripper + - End + - Place the dark blue block in the storage box with right gripper + - Place the cup in the storage box with right gripper + - Place the orange block and white block in the storage box with left gripper + - Grasp the green block with right gripper + - Grasp the white block with left gripper + - Grasp the red block with right gripper + - Static + - Grasp the orange block with right gripper + - Grasp the dark blue block with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Realman_RMC-AIDA-L_arrange_flowers.yaml b/dataset_info/Realman_RMC-AIDA-L_arrange_flowers.yaml index 0f82bc179eb41422f651d8803a5cbe8fe0e34356..2ea630b1be1e9037f5aa8f442afacc67b63a3ca2 100644 --- a/dataset_info/Realman_RMC-AIDA-L_arrange_flowers.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_arrange_flowers.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,33 +51,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the right gripper grasp the flowers and insert them into the vase. +task_result: 'null' +task_instruction: the right gripper grasp the flowers and insert them into the vase. sub_tasks: -- subtask: Grasp the pink flower with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: Place the pink flower into the vase with with the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Grasp the pink flower with the right gripper +- Abnormal +- Place the pink flower into the vase with with the right gripper +- End +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +79,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +93,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 60 total_frames: 22483 fps: 30 @@ -181,9 +179,11 @@ data_structure: 'Realman_RMC-AIDA-L_arrange_flowers_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:59 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -460,7 +460,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -468,6 +468,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -494,6 +495,187 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_arrange_flowers + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the right gripper grasp the flowers and insert them into the vase. + sub_tasks: + - subtask: Grasp the pink flower with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: Place the pink flower into the vase with with the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 22483 + dataset_size: 465.54 MB + data_structure: 'Realman_RMC-AIDA-L_arrange_flowers_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (48 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml b/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml index 9f5721a81a01b9c3ae32a9405efa1e786b22bba4..5ebc5d5dd1d7366c0ba619294c096c5e1aab1cd5 100644 --- a/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_fold_towel.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -45,39 +45,30 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- with both grippers position the towel correctly, the right gripper grasp the towel - and fold it to the left. +task_result: 'null' +task_instruction: with both grippers position the towel correctly, the right gripper + grasp the towel and fold it to the left. sub_tasks: -- subtask: Grasp the towel with the left gripper - subtask_index: 0 -- subtask: Move the towel to the center of the table with the right gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the towel with the right gripper - subtask_index: 3 -- subtask: Fold the towel with the left gripper - subtask_index: 4 -- subtask: Move the towel to the center of the table with both grippers - subtask_index: 5 -- subtask: Fold the towel with the right gripper - subtask_index: 6 -- subtask: 'null' - subtask_index: 7 +- Grasp the towel with the left gripper +- Move the towel to the center of the table with the right gripper +- End +- Grasp the towel with the right gripper +- Fold the towel with the left gripper +- Move the towel to the center of the table with both grippers +- Fold the towel with the right gripper +- 'null' atomic_actions: - grasp - fold -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -85,10 +76,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -96,7 +90,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 120 total_frames: 69438 fps: 30 @@ -181,9 +176,11 @@ data_structure: 'Realman_RMC-AIDA-L_fold_towel_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:119 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -460,7 +457,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -468,6 +465,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -494,6 +492,193 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_fold_towel + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: bathroom + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - with both grippers position the towel correctly, the right gripper grasp the towel + and fold it to the left. + sub_tasks: + - subtask: Grasp the towel with the left gripper + subtask_index: 0 + - subtask: Move the towel to the center of the table with the right gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the towel with the right gripper + subtask_index: 3 + - subtask: Fold the towel with the left gripper + subtask_index: 4 + - subtask: Move the towel to the center of the table with both grippers + subtask_index: 5 + - subtask: Fold the towel with the right gripper + subtask_index: 6 + - subtask: 'null' + subtask_index: 7 + atomic_actions: + - grasp + - fold + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 69438 + dataset_size: 1.08 GB + data_structure: 'Realman_RMC-AIDA-L_fold_towel_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (108 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml index 2c3733f86d0386ef8f5d10d025c790c0947d5fe9..11b05f7aace365d7bf07311d6d4456a30b506b07 100644 --- a/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: clothes_drying_rack level1: storage_racks level2: clothes_drying_rack @@ -45,30 +45,26 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper grasp the clothes and hang them on the clothes rack. +task_result: 'null' +task_instruction: the left gripper grasp the clothes and hang them on the clothes + rack. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the hanger with the left gripper - subtask_index: 1 -- subtask: Place the hanger on the rack with the left gripper - subtask_index: 2 -- subtask: 'null' - subtask_index: 3 +- End +- Grasp the hanger with the left gripper +- Place the hanger on the rack with the left gripper +- 'null' atomic_actions: - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -76,10 +72,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -87,7 +86,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 10021 fps: 30 @@ -172,9 +172,11 @@ data_structure: 'Realman_RMC-AIDA-L_hang_clothes_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -451,7 +453,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -459,6 +461,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -485,6 +488,184 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_hang_clothes + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper grasp the clothes and hang them on the clothes rack. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the hanger with the left gripper + subtask_index: 1 + - subtask: Place the hanger on the rack with the left gripper + subtask_index: 2 + - subtask: 'null' + subtask_index: 3 + atomic_actions: + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 10021 + dataset_size: 234.72 MB + data_structure: 'Realman_RMC-AIDA-L_hang_clothes_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml index 9d75c6f3041d880a25f166c240424da8e477a984..74ddf6b52c065f411acf4b4dd3248ebfccd110d3 100644 --- a/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_storage_block_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,34 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper grasp the basket on the table, the right grippe pick up the blocks - on the table and place it into the basket. +task_result: 'null' +task_instruction: the left gripper grasp the basket on the table, the right grippe + pick up the blocks on the table and place it into the basket. sub_tasks: -- subtask: End - subtask_index: 0 -- subtask: Grasp the blue cube with the right gripper - subtask_index: 1 -- subtask: Place the blue cube into the basket with the right gripper - subtask_index: 2 -- subtask: Grasp the basket with the left gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- End +- Grasp the blue cube with the right gripper +- Place the blue cube into the basket with the right gripper +- Grasp the basket with the left gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -86,10 +80,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -97,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 50 total_frames: 19083 fps: 30 @@ -182,9 +180,11 @@ data_structure: 'Realman_RMC-AIDA-L_storage_block_basket_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:49 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -461,7 +461,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -469,6 +469,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -495,6 +496,188 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_storage_block_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper grasp the basket on the table, the right grippe pick up the blocks + on the table and place it into the basket. + sub_tasks: + - subtask: End + subtask_index: 0 + - subtask: Grasp the blue cube with the right gripper + subtask_index: 1 + - subtask: Place the blue cube into the basket with the right gripper + subtask_index: 2 + - subtask: Grasp the basket with the left gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 19083 + dataset_size: 201.40 MB + data_structure: 'Realman_RMC-AIDA-L_storage_block_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (38 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml index 99db4cf17fd85ce3444dddfeb661623f915c1a50..2a1076eb5947f32ebd8f9c4a753dea6e332551f0 100644 --- a/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,36 +51,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper open the box, the right gripper grasp the peach on the table and - place it into the box. +task_result: 'null' +task_instruction: the left gripper open the box, the right gripper grasp the peach + on the table and place it into the box. sub_tasks: -- subtask: Close the box with the left gripper - subtask_index: 0 -- subtask: Open the lid with the left gripper - subtask_index: 1 -- subtask: End - subtask_index: 2 -- subtask: Grasp the peach with the right gripper - subtask_index: 3 -- subtask: Place the peach into the box with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Close the box with the left gripper +- Open the lid with the left gripper +- End +- Grasp the peach with the right gripper +- Place the peach into the box with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +81,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 118 total_frames: 78472 fps: 30 @@ -184,9 +181,11 @@ data_structure: 'Realman_RMC-AIDA-L_storage_peach_box_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:117 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -463,7 +462,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -471,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -497,6 +497,190 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_storage_peach_box + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper open the box, the right gripper grasp the peach on the table + and place it into the box. + sub_tasks: + - subtask: Close the box with the left gripper + subtask_index: 0 + - subtask: Open the lid with the left gripper + subtask_index: 1 + - subtask: End + subtask_index: 2 + - subtask: Grasp the peach with the right gripper + subtask_index: 3 + - subtask: Place the peach into the box with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 78472 + dataset_size: 751.68 MB + data_structure: 'Realman_RMC-AIDA-L_storage_peach_box_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (106 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml index 4fbfb09c15aafb9d8e41e7c5785f1276ab14439e..b797f860ec68936a533a8f0c08927f9718b6c54c 100644 --- a/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_storage_peach_drawer.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,34 +51,28 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the right gripper grasp the peach on the table and place it into the drawer, the - left gripper close the drawer. +task_result: 'null' +task_instruction: the right gripper grasp the peach on the table and place it into + the drawer, the left gripper close the drawer. sub_tasks: -- subtask: Close the drawer with the left gripper - subtask_index: 0 -- subtask: Place the peach into the top drawer with the right gripper - subtask_index: 1 -- subtask: end - subtask_index: 2 -- subtask: Grasp the peach with the right gripper - subtask_index: 3 -- subtask: 'null' - subtask_index: 4 +- Close the drawer with the left gripper +- Place the peach into the top drawer with the right gripper +- end +- Grasp the peach with the right gripper +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -86,10 +80,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -97,7 +94,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 120 total_frames: 46600 fps: 30 @@ -182,9 +180,11 @@ data_structure: 'Realman_RMC-AIDA-L_storage_peach_drawer_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:119 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -461,7 +461,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -469,6 +469,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -495,6 +496,188 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_storage_peach_drawer + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the right gripper grasp the peach on the table and place it into the drawer, the + left gripper close the drawer. + sub_tasks: + - subtask: Close the drawer with the left gripper + subtask_index: 0 + - subtask: Place the peach into the top drawer with the right gripper + subtask_index: 1 + - subtask: end + subtask_index: 2 + - subtask: Grasp the peach with the right gripper + subtask_index: 3 + - subtask: 'null' + subtask_index: 4 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 46600 + dataset_size: 596.03 MB + data_structure: 'Realman_RMC-AIDA-L_storage_peach_drawer_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (108 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml index 05d7aaf5b83b72a4ee5680328540df25bc4f9e6b..e77e1c971453c908eda633d499ff77cd0a97dc74 100644 --- a/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml +++ b/dataset_info/Realman_RMC-AIDA-L_storage_towel_basket.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: furniture level2: table @@ -51,36 +51,29 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- the left gripper grasp the basket on the table, the right grippe pick up the towel - on the table and place it into the basket. +task_result: 'null' +task_instruction: the left gripper grasp the basket on the table, the right grippe + pick up the towel on the table and place it into the basket. sub_tasks: -- subtask: Place the towel into the basket with the right gripper - subtask_index: 0 -- subtask: Abnormal - subtask_index: 1 -- subtask: PIck up the basket with the left gripper - subtask_index: 2 -- subtask: PIck up the towel with the right gripper - subtask_index: 3 -- subtask: end - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Place the towel into the basket with the right gripper +- Abnormal +- PIck up the basket with the left gripper +- PIck up the towel with the right gripper +- end +- 'null' atomic_actions: - grasp - pick - place -robot_name: -- Realman_RMC-AIDA-L +robot_name: Realman_RMC-AIDA-L end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -88,10 +81,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -99,7 +95,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 118 total_frames: 58520 fps: 30 @@ -184,9 +181,11 @@ data_structure: 'Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/ |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:117 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -463,7 +462,7 @@ features: shape: - 2 dtype: int32 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -471,6 +470,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -497,6 +497,190 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: Realman_RMC-AIDA-L_storage_towel_basket + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - the left gripper grasp the basket on the table, the right grippe pick up the towel + on the table and place it into the basket. + sub_tasks: + - subtask: Place the towel into the basket with the right gripper + subtask_index: 0 + - subtask: Abnormal + subtask_index: 1 + - subtask: PIck up the basket with the left gripper + subtask_index: 2 + - subtask: PIck up the towel with the right gripper + subtask_index: 3 + - subtask: end + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - pick + - place + robot_name: + - Realman_RMC-AIDA-L + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 58520 + dataset_size: 684.59 MB + data_structure: 'Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (106 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/Split_aloha_basket_storage_banana.yaml b/dataset_info/Split_aloha_basket_storage_banana.yaml index da34343f429290fdebdb9d1289042d1d3e88284b..eada5c875e6ffa2322959c2d1ca7890a79bba16e 100644 --- a/dataset_info/Split_aloha_basket_storage_banana.yaml +++ b/dataset_info/Split_aloha_basket_storage_banana.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_banana +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_banana -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: End -objects: +dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-164327 -dataset_size: 2.8GB -statistics: - total_episodes: 368 - total_frames: 164327 - total_tasks: 1 - total_videos: 1104 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Place the banana in the basket with right gripper @@ -54,7 +61,30 @@ sub_tasks: - Static - Abnormal - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 368 + total_frames: 164327 + total_tasks: 1 + total_videos: 1104 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 164327 +dataset_size: 2.8GB +data_structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_banana + dataset_name: basket_storage_banana + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-164327 + dataset_size: 2.8GB + statistics: *id002 + dataset_uuid: e9d8e155-1dc0-4402-b406-4b59d65884c7 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Place the banana in the basket with right gripper + - Grasp the banana with right gripper + - Place the basket in the center of the table with the left gripper + - Grasp the basket with the left gripper + - Static + - Abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_basket_storage_bread.yaml b/dataset_info/Split_aloha_basket_storage_bread.yaml index 5634d0a479ceaab4c924dbb5e71f55840d779f7b..3705b61d400e1be57dfb44818523056c52f12d3f 100644 --- a/dataset_info/Split_aloha_basket_storage_bread.yaml +++ b/dataset_info/Split_aloha_basket_storage_bread.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: abnormal -objects: +dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-211779 -dataset_size: 4.3GB -statistics: - total_episodes: 497 - total_frames: 211779 - total_tasks: 4 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: abnormal sub_tasks: - abnormal - Pick up the bread - Move the basket to the center of view - place the bread into the basket - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 497 + total_frames: 211779 + total_tasks: 4 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 211779 +dataset_size: 4.3GB +data_structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,40 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_bread + dataset_name: basket_storage_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: abnormal + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-211779 + dataset_size: 4.3GB + statistics: *id002 + dataset_uuid: c86fb8b5-8845-4798-9c83-f3a7aec176f7 + language: *id003 + task_categories: *id004 + sub_tasks: + - abnormal + - Pick up the bread + - Move the basket to the center of view + - place the bread into the basket + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml index d549eb0d4b1b30b9f594764ca18f50f004ff972b..90b33c862aac9bb9a2bf2870fcb4e2b186b20df6 100644 --- a/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml +++ b/dataset_info/Split_aloha_basket_storage_egg_yolk_pastry.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_egg_yolk_pastry +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_egg_yolk_pastry -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the basket with left gripper -objects: +dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-254419 -dataset_size: 6.7GB -statistics: - total_episodes: 629 - total_frames: 254419 - total_tasks: 1 - total_videos: 1887 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the basket with left gripper sub_tasks: - Grasp the basket with left gripper - Static @@ -54,7 +61,30 @@ sub_tasks: - Place the egg yolk pastry in the basket with right gripper - Place the basket in the center of view with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 629 + total_frames: 254419 + total_tasks: 1 + total_videos: 1887 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 254419 +dataset_size: 6.7GB +data_structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_egg_yolk_pastry + dataset_name: basket_storage_egg_yolk_pastry + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the basket with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-254419 + dataset_size: 6.7GB + statistics: *id002 + dataset_uuid: c5e8e66a-392d-4197-8236-7a50365c0ed3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the basket with left gripper + - Static + - Grasp egg yolk pastry with right gripper + - End + - Abnormal + - Place the egg yolk pastry in the basket with right gripper + - Place the basket in the center of view with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_basket_storage_long_bread.yaml b/dataset_info/Split_aloha_basket_storage_long_bread.yaml index 02f33374066e4fe6955b5e3d58978c675f2c79b4..73081979a4643497bf494f7a455d08e6a46173d8 100644 --- a/dataset_info/Split_aloha_basket_storage_long_bread.yaml +++ b/dataset_info/Split_aloha_basket_storage_long_bread.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_long_bread +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_long_bread -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Grasp the long bread with right gripper -objects: +dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-129236 -dataset_size: 3.7GB -statistics: - total_episodes: 311 - total_frames: 129236 - total_tasks: 1 - total_videos: 933 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the long bread with right gripper sub_tasks: - Grasp the long bread with right gripper - Grasp the basket with the left gripper @@ -54,7 +61,30 @@ sub_tasks: - Abnormal - Static - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 311 + total_frames: 129236 + total_tasks: 1 + total_videos: 933 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 129236 +dataset_size: 3.7GB +data_structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_long_bread + dataset_name: basket_storage_long_bread + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Grasp the long bread with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-129236 + dataset_size: 3.7GB + statistics: *id002 + dataset_uuid: 3edf5fc6-ba54-4b74-901e-ac0b49ed35b3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the long bread with right gripper + - Grasp the basket with the left gripper + - End + - Place the long bread in the basket with right gripper + - Place the basket in the center of the table with the left gripper + - Abnormal + - Static + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_basket_storage_orange.yaml b/dataset_info/Split_aloha_basket_storage_orange.yaml index 211f16990c606a983d494112a3619d0ae6ee218d..4e461a20782be8b585448179d62516e70efcea0e 100644 --- a/dataset_info/Split_aloha_basket_storage_orange.yaml +++ b/dataset_info/Split_aloha_basket_storage_orange.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_orange +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_orange -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Place the basket in the center of view with left gripper -objects: +dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-293847 -dataset_size: 6.1GB -statistics: - total_episodes: 642 - total_frames: 293847 - total_tasks: 1 - total_videos: 1926 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the basket in the center of view with left gripper sub_tasks: - Place the basket in the center of view with left gripper - Place the orange in the basket with right gripper @@ -54,7 +61,30 @@ sub_tasks: - Abnormal - Static - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -62,7 +92,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 642 + total_frames: 293847 + total_tasks: 1 + total_videos: 1926 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 293847 +dataset_size: 6.1GB +data_structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -71,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -95,40 +163,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_orange + dataset_name: basket_storage_orange + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Place the basket in the center of view with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-293847 + dataset_size: 6.1GB + statistics: *id002 + dataset_uuid: f478bc5f-0850-4241-9c9b-cea1674f8e67 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the basket in the center of view with left gripper + - Place the orange in the basket with right gripper + - Grasp the orange with right gripper + - Grasp the basket with left gripper + - End + - Abnormal + - Static + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_orange_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_basket_storage_peach.yaml b/dataset_info/Split_aloha_basket_storage_peach.yaml index af4445fb6afad12fa6008b76ac1576b27761ae3a..b0874e072f55c04471b248edeb1c7ffcccd580e5 100644 --- a/dataset_info/Split_aloha_basket_storage_peach.yaml +++ b/dataset_info/Split_aloha_basket_storage_peach.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_basket_storage_peach +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: basket_storage_peach -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -tasks: Pick up the peach -objects: +dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-392136 -dataset_size: 5.0GB -statistics: - total_episodes: 994 - total_frames: 392136 - total_tasks: 1 - total_videos: 2982 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the peach sub_tasks: - Pick up the peach - Place the peach in the basket with right gripper @@ -57,7 +64,30 @@ sub_tasks: - Abnormal - End - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 994 + total_frames: 392136 + total_tasks: 1 + total_videos: 2982 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 392136 +dataset_size: 5.0GB +data_structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_basket_storage_peach + dataset_name: basket_storage_peach + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + tasks: Pick up the peach + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-392136 + dataset_size: 5.0GB + statistics: *id002 + dataset_uuid: aa4c76bf-e637-4da0-a962-fc0c3caea73c + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the peach + - Place the peach in the basket with right gripper + - place the peach into the basket + - Static + - Move the basket to the center of view + - Grasp the peach with right gripper + - Grasp the basket with left gripper + - Place the basket in the center of view with left gripper + - Abnormal + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_fold_the_pants.yaml b/dataset_info/Split_aloha_fold_the_pants.yaml index c18464b52d5dab9dc49c0732985f1743458c2c75..e9690e8787c9c48af1f893b4732a32cef8275e6e 100644 --- a/dataset_info/Split_aloha_fold_the_pants.yaml +++ b/dataset_info/Split_aloha_fold_the_pants.yaml @@ -1,14 +1,35 @@ -path: Split_aloha_fold_the_pants +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: fold_the_pants -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- fold -tasks: Fold the bottom of the pants upward -objects: +dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -21,29 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-402577 -dataset_size: 8.5GB -statistics: - total_episodes: 486 - total_frames: 402577 - total_tasks: 4 - total_videos: 1458 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Fold the bottom of the pants upward sub_tasks: - Fold the bottom of the pants upward - Fold the pants from left to right - Fold your pants from right to left - 'null' -annotations: +atomic_actions: +- grasp +- fold +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 486 + total_frames: 402577 + total_tasks: 4 + total_videos: 1458 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 402577 +dataset_size: 8.5GB +data_structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,39 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_fold_the_pants + dataset_name: fold_the_pants + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - fold + tasks: Fold the bottom of the pants upward + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-402577 + dataset_size: 8.5GB + statistics: *id002 + dataset_uuid: 2d20404b-b035-4962-9e8e-055858867cb3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Fold the bottom of the pants upward + - Fold the pants from left to right + - Fold your pants from right to left + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_plate_storage.yaml b/dataset_info/Split_aloha_plate_storage.yaml index d0fb00757e6225e53b06919fe1a63c2e2c8fc4dd..15e177170ee8ceff555af347a80de1881b7db8c1 100644 --- a/dataset_info/Split_aloha_plate_storage.yaml +++ b/dataset_info/Split_aloha_plate_storage.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_plate_storage +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: plate_storage -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pass the plate from the left gripper to the right gripper -objects: +dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-229687 -dataset_size: 2.6GB -statistics: - total_episodes: 499 - total_frames: 229687 - total_tasks: 5 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pass the plate from the left gripper to the right gripper sub_tasks: - Pass the plate from the left gripper to the right gripper - Place the plate on the shelf @@ -52,7 +59,30 @@ sub_tasks: - Pick up the plate with the left gripper - Pick up the plate with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -60,7 +90,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 499 + total_frames: 229687 + total_tasks: 5 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 229687 +dataset_size: 2.6GB +data_structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -69,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -93,39 +161,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_plate_storage + dataset_name: plate_storage + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pass the plate from the left gripper to the right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-229687 + dataset_size: 2.6GB + statistics: *id002 + dataset_uuid: 7f2dd151-758c-4265-89b3-5d486f875ef8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pass the plate from the left gripper to the right gripper + - Place the plate on the shelf + - Pass the plate from the right gripper to the left gripper + - Pick up the plate with the left gripper + - Pick up the plate with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_pour_rice.yaml b/dataset_info/Split_aloha_pour_rice.yaml index 7c2b0eeb77f4cda80ba78adfb461c093ed2907f6..8d97165becb5da26db37fcba0932095e3c809a17 100644 --- a/dataset_info/Split_aloha_pour_rice.yaml +++ b/dataset_info/Split_aloha_pour_rice.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_pour_rice +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_rice -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- place -- pick -- grasp -- pour -tasks: Grasp the cup with rice in it with left gripper -objects: +dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-504182 -dataset_size: 4.9GB -statistics: - total_episodes: 740 - total_frames: 504182 - total_tasks: 1 - total_videos: 2220 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the cup with rice in it with left gripper sub_tasks: - Grasp the cup with rice in it with left gripper - Place the bowl in the center of view with the right gripper @@ -65,7 +71,31 @@ sub_tasks: - Pick up the cup with rice in it with the left gripper - Pour the rice from the cup into the bowl with the left gripper - 'null' -annotations: +atomic_actions: +- place +- pick +- grasp +- pour +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,41 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 740 + total_frames: 504182 + total_tasks: 1 + total_videos: 2220 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 504182 +dataset_size: 4.9GB +data_structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +146,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,38 +173,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_pour_rice + dataset_name: pour_rice + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - place + - pick + - grasp + - pour + tasks: Grasp the cup with rice in it with left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-504182 + dataset_size: 4.9GB + statistics: *id002 + dataset_uuid: 004a37ce-a00a-4547-a5a0-0538af2c8a99 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the cup with rice in it with left gripper + - Place the bowl in the center of view with the right gripper + - End + - Place the cup on the table with the left gripper + - Static + - Pick up the bowl with the right gripper + - Abnormal + - Move the bowl in the center of view with right gripper + - Move the bowl to the center of view with the right gripper + - Pick up the cup with rice in it with the left gripper + - Pour the rice from the cup into the bowl with the left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_pour_tea.yaml b/dataset_info/Split_aloha_pour_tea.yaml index 34a4a6d69458d8efc83f9eec6fc0b8d33445a23c..3048927ebd4ebee26995a1207ae6916135f6a501 100644 --- a/dataset_info/Split_aloha_pour_tea.yaml +++ b/dataset_info/Split_aloha_pour_tea.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_pour_tea +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pour_tea -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- pour -tasks: Pick up the teacup with the left gripper -objects: +dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -29,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-1305706 -dataset_size: 13.7GB -statistics: - total_episodes: 977 - total_frames: 1305706 - total_tasks: 5 - total_videos: 2931 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the teacup with the left gripper sub_tasks: - Pick up the teacup with the left gripper - End @@ -65,7 +71,31 @@ sub_tasks: - Pour tea into the teacup with the left gripper - Place the down the teapot with the right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- pour +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,70 +103,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 977 + total_frames: 1305706 + total_tasks: 5 + total_videos: 2931 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 1305706 +dataset_size: 13.7GB +data_structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ @@ -165,3 +143,194 @@ structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_pour_tea + dataset_name: pour_tea + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - pour + tasks: Pick up the teacup with the left gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-1305706 + dataset_size: 13.7GB + statistics: *id002 + dataset_uuid: dc22129e-7334-4a8e-b843-438763c0a08f + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the teacup with the left gripper + - End + - Place the teacup in the center of view with the right gripper + - Pick up the teapot with the left gripper + - Pick up the teapot with the right gripper + - Abnormal + - Pick up the teacup with the right gripper + - Place the down the teapot with the left gripper + - Grasp the teapot with left gripper + - Put down the teapot with left gripper + - Pour tea into the teacup with right gripper + - Put down the teapot with right gripper + - Pour tea into the teacup with left gripper + - Pour tea into the teacup with the right gripper + - Grasp the teapot with right gripper + - Pour tea into the teacup with the left gripper + - Place the down the teapot with the right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Split_aloha_pour_tea_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ + │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │\ + \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └──\ + \ (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ + │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ + \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │\ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │\ + \ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 1M-10M diff --git a/dataset_info/Split_aloha_scoop_coffee_beans.yaml b/dataset_info/Split_aloha_scoop_coffee_beans.yaml index 722a236e6c3cd4858d0075bd24183114162ca738..7273a6b2a7f9d73b2833aed1a667bf6f9f7df51b 100644 --- a/dataset_info/Split_aloha_scoop_coffee_beans.yaml +++ b/dataset_info/Split_aloha_scoop_coffee_beans.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_scoop_coffee_beans +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: scoop_coffee_beans -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- scoop -- grasp -- pick -- place -tasks: Place the spoon back in its original place -objects: +dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -41,23 +60,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-409440 -dataset_size: 3.8GB -statistics: - total_episodes: 499 - total_frames: 409440 - total_tasks: 8 - total_videos: 1497 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the spoon back in its original place sub_tasks: - Place the spoon back in its original place - Move the cup to the center of view @@ -65,7 +71,31 @@ sub_tasks: - Scoop a spoonful of beans into the cup - abnormal - 'null' -annotations: +atomic_actions: +- scoop +- grasp +- pick +- place +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 499 + total_frames: 409440 + total_tasks: 8 + total_videos: 1497 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 409440 +dataset_size: 3.8GB +data_structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_scoop_coffee_beans + dataset_name: scoop_coffee_beans + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - scoop + - grasp + - pick + - place + tasks: Place the spoon back in its original place + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-409440 + dataset_size: 3.8GB + statistics: *id002 + dataset_uuid: 643f286d-7021-4fb1-8c63-aecd24fb763e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the spoon back in its original place + - Move the cup to the center of view + - Pick up the spoon + - Scoop a spoonful of beans into the cup + - abnormal + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_stack_baskets.yaml b/dataset_info/Split_aloha_stack_baskets.yaml index 44cf64c2cb002c737739359ecbf6ef75ab23c687..7a3b087577144557fe60bd8898a48bdb72b6eb26 100644 --- a/dataset_info/Split_aloha_stack_baskets.yaml +++ b/dataset_info/Split_aloha_stack_baskets.yaml @@ -1,15 +1,35 @@ -path: Split_aloha_stack_baskets +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stack_baskets -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-474590 -dataset_size: 17.5GB -statistics: - total_episodes: 1066 - total_frames: 474590 - total_tasks: 2 - total_videos: 3198 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the light basket with left gripper @@ -56,7 +63,30 @@ sub_tasks: - Place the light basket on the dark basket - Place the light basket in the center of the table with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,41 +94,18 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: - contributed_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team - annotated_by: - - name: RoboCOIN - url: https://flagopen.github.io/RoboCOIN/ - affiliation: RoboCOIN Team -homepage: https://flagopen.github.io/RoboCOIN/ -paper: https://arxiv.org/abs/2511.17441 -repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot -citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ - \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ - \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ - \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ - \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ - \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ - \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ - \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ - \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ - \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ - \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ - \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ - \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ - \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ - \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ - \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ - \ }" -depth_enabled: false -data_schema: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├──\ +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 1066 + total_frames: 474590 + total_tasks: 2 + total_videos: 3198 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 474590 +dataset_size: 17.5GB +data_structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├──\ \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ @@ -127,32 +134,193 @@ data_schema: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ \ episode_001004.mp4\n └── (...)" -structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n\ - │ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ \ - \ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n\ - │ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n\ - │ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ \ - \ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ - │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ - \ ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├──\ - \ episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n\ - \ │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ \ - \ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │\ - \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ - \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ - \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n \ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 + contributed_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team + annotated_by: + - name: RoboCOIN + url: https://flagopen.github.io/RoboCOIN/ + affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu\ + \ Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng\ + \ Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu,\ + \ Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu\ + \ Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng,\ + \ Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing\ + \ Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang,\ + \ YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang,\ + \ Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang\ + \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ + \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ + \ }" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_stack_baskets + dataset_name: stack_baskets + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-474590 + dataset_size: 17.5GB + statistics: *id002 + dataset_uuid: 95468603-b11c-4660-b4a3-4ea44675e67f + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the light basket with left gripper + - Move the dark basket to the center of view + - Grasp the dark basket with right gripper + - Place the dark basket on top of the light basket + - Grasp the dark basket with left gripper + - Place the light-colored basket in the center + - Grasp the light basket with right gripper + - Place the dark basket in the center of the table with left gripper + - Place the dark basket on the light basket with right gripper + - Static + - Pick up the light basket with the right gripper + - Place the light basket on the dark basket with right gripper + - Place the light basket on the dark basket + - Place the light basket in the center of the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Split_aloha_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_stir_coffee.yaml b/dataset_info/Split_aloha_stir_coffee.yaml index 3afc8c111b0f5aa738ed5dafb3c876e6e6bbf6eb..54f2c07f425e18bccc62a3437e04d45d991fcaed 100644 --- a/dataset_info/Split_aloha_stir_coffee.yaml +++ b/dataset_info/Split_aloha_stir_coffee.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_stir_coffee +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stir_coffee -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- scoop -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-280886 -dataset_size: 2.4GB -statistics: - total_episodes: 495 - total_frames: 280886 - total_tasks: 8 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Grasp the spoon with right gripper @@ -65,7 +71,31 @@ sub_tasks: - Static - Move the cup in the center of the table with left gripper - 'null' -annotations: +atomic_actions: +- scoop +- grasp +- pick +- place +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 495 + total_frames: 280886 + total_tasks: 8 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 280886 +dataset_size: 2.4GB +data_structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,38 +174,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_stir_coffee + dataset_name: stir_coffee + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - scoop + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-280886 + dataset_size: 2.4GB + statistics: *id002 + dataset_uuid: 32b751d9-e42c-4ded-9426-ef495fea9a3d + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Grasp the spoon with right gripper + - Move the cup in the center of the table with right gripper + - Stir the coffee with right gripper + - Stir the coffee in the cup + - Pick up the spoon + - Grasp the spoon with left gripper + - Stir the coffee with left gripper + - Move the cup with coffee to the center of view + - Static + - Move the cup in the center of the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_wipe_table.yaml b/dataset_info/Split_aloha_wipe_table.yaml index d6c80b157c96db2e25c5cc9091a50d8704227967..97edf565fbff78aa4db7b9b39c4996ea09ea54b3 100644 --- a/dataset_info/Split_aloha_wipe_table.yaml +++ b/dataset_info/Split_aloha_wipe_table.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_wipe_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: wipe_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- wipe -tasks: Grasp the rag with right gripper -objects: +dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-106804 -dataset_size: 1.3GB -statistics: - total_episodes: 200 - total_frames: 106804 - total_tasks: 1 - total_videos: 600 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the rag with right gripper sub_tasks: - Grasp the rag with right gripper - Abnormal @@ -62,7 +68,31 @@ sub_tasks: - Grasp the paper cup with left gripper - Wipe the stains off the table with the rag with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- wipe +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -70,7 +100,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 200 + total_frames: 106804 + total_tasks: 1 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 106804 +dataset_size: 1.3GB +data_structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -79,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -103,38 +171,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_wipe_table + dataset_name: wipe_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - wipe + tasks: Grasp the rag with right gripper + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-106804 + dataset_size: 1.3GB + statistics: *id002 + dataset_uuid: 18848f29-f6ff-4f8a-ab4d-acc67d812c64 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the rag with right gripper + - Abnormal + - Place the rag on the table with right gripper + - Stand the paper cup upright with left gripper + - End + - Static + - Grasp the paper cup with left gripper + - Wipe the stains off the table with the rag with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_wipe_the_table.yaml b/dataset_info/Split_aloha_wipe_the_table.yaml index 82b06d135ebc8939c0ce1ebea09871067fe47c6b..491217ff5cdd79c8ced716dbe77438584caad945 100644 --- a/dataset_info/Split_aloha_wipe_the_table.yaml +++ b/dataset_info/Split_aloha_wipe_the_table.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_wipe_the_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: wipe_the_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- place -- pick -- wipe -tasks: Stand the paper cup upright -objects: +dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -35,28 +54,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-166266 -dataset_size: 1.3GB -statistics: - total_episodes: 302 - total_frames: 166266 - total_tasks: 3 - total_videos: 906 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Stand the paper cup upright sub_tasks: - Stand the paper cup upright - Wipe the stains off the table with a rag - 'null' -annotations: +atomic_actions: +- grasp +- place +- pick +- wipe +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 302 + total_frames: 166266 + total_tasks: 3 + total_videos: 906 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 166266 +dataset_size: 1.3GB +data_structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,39 +165,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_wipe_the_table + dataset_name: wipe_the_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - place + - pick + - wipe + tasks: Stand the paper cup upright + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-166266 + dataset_size: 1.3GB + statistics: *id002 + dataset_uuid: c5648c51-14f0-4d84-a3cc-2fd1c28069a8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Stand the paper cup upright + - Wipe the stains off the table with a rag + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Split_aloha_zip_up_the_document_bag.yaml b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml index 50fb9e90eec1c96b315c946521ff790ef1f3a67a..54f7cbf0a4cf78ce5303d1e7cf4f3698bfc228ed 100644 --- a/dataset_info/Split_aloha_zip_up_the_document_bag.yaml +++ b/dataset_info/Split_aloha_zip_up_the_document_bag.yaml @@ -1,16 +1,35 @@ -path: Split_aloha_zip_up_the_document_bag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: zip_up_the_document_bag -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pull -- place -tasks: Pulling up the zipper on the transparent plastic bag with the left gripper - to close it -objects: +dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -23,23 +42,11 @@ objects: level3: null level4: null level5: null -operation_platform_height: 77.2 -frame_range: 0-234815 -dataset_size: 2.7GB -statistics: - total_episodes: 495 - total_frames: 234815 - total_tasks: 4 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pulling up the zipper on the transparent plastic bag with the left + gripper to close it sub_tasks: - Pulling up the zipper on the transparent plastic bag with the left gripper to close it @@ -51,7 +58,30 @@ sub_tasks: - Pick up the transparent plastic bag with the right gripper - Place the transparent plastic bag - 'null' -annotations: +atomic_actions: +- grasp +- pull +- place +robot_name: Split_aloha +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: 77.2 +statistics: &id002 + total_episodes: 495 + total_frames: 234815 + total_tasks: 4 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 234815 +dataset_size: 2.7GB +data_structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,40 +160,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Split_aloha_zip_up_the_document_bag + dataset_name: zip_up_the_document_bag + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pull + - place + tasks: Pulling up the zipper on the transparent plastic bag with the left gripper + to close it + objects: *id001 + operation_platform_height: 77.2 + frame_range: 0-234815 + dataset_size: 2.7GB + statistics: *id002 + dataset_uuid: e06c5784-df23-4a4a-b86d-adc2bcf12bae + language: *id003 + task_categories: *id004 + sub_tasks: + - Pulling up the zipper on the transparent plastic bag with the left gripper to + close it + - Pulling up the zipper on the transparent plastic bag with the right gripper to + close it + - Static + - End + - Pick up the transparent plastic bag with the left gripper + - Pick up the transparent plastic bag with the right gripper + - Place the transparent plastic bag + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Tianqin_A2_box_storage_part.yaml b/dataset_info/Tianqin_A2_box_storage_part.yaml index b93de8b6429fa0256a42eae406e84db5b4341aa3..39e7744c4ff1086798fabf9f769cc08236900e95 100644 --- a/dataset_info/Tianqin_A2_box_storage_part.yaml +++ b/dataset_info/Tianqin_A2_box_storage_part.yaml @@ -1,15 +1,35 @@ -path: Tianqin_A2_box_storage_part +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_part -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the data cable in the another box -objects: +dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-681531 -dataset_size: 25.6GB -statistics: - total_episodes: 1104 - total_frames: 681531 - total_tasks: 1 - total_videos: 3312 - total_chunks: 2 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the data cable in the another box sub_tasks: - Place the data cable in the another box - Abnormal - Grasp the data cable - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Tianqin_A2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,53 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 1104 + total_frames: 681531 + total_tasks: 1 + total_videos: 3312 + total_chunks: 2 + chunks_size: 1000 + fps: 30 +frame_num: 681531 +dataset_size: 25.6GB +data_structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ + │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ + \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ + \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ + \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ + \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ + \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ + \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ + \ episode_001004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +144,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,62 +171,140 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ - │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ - \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ - │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ - \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ - \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" -structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ - │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ \ - \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n\ - │ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ \ - \ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├──\ - \ episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ \ - \ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├──\ - \ episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ - \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n \ - \ │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├──\ - \ episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ - \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├──\ - \ episode_001004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Tianqin_A2_box_storage_part + dataset_name: box_storage_part + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the data cable in the another box + objects: *id001 + operation_platform_height: null + frame_range: 0-681531 + dataset_size: 25.6GB + statistics: *id002 + dataset_uuid: 7a1de37c-d8b0-476a-b503-99a0fd93cafd + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the data cable in the another box + - Abnormal + - Grasp the data cable + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" + structure: "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n\ + │ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │\ + \ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├──\ + \ episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n\ + │ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ \ + \ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ \ + \ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n\ + \ │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │\ + \ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │\ + \ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ \ + \ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├──\ + \ episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n\ + \ │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │\ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ \ + \ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n\ + \ │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n \ + \ │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├──\ + \ episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_001000.mp4\n ├── episode_001001.mp4\n \ + \ ├── episode_001002.mp4\n ├── episode_001003.mp4\n \ + \ ├── episode_001004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml index e5c0ca15d6fd1500cee150944b380fe4b5d932b5..f714d670657f17010048608ac2f1479d10812ac5 100644 --- a/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml +++ b/dataset_info/Tianqin_A2_container_storage_graphics_card.yaml @@ -1,15 +1,35 @@ -path: Tianqin_A2_container_storage_graphics_card +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: container_storage_graphics_card -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Lift the bag -objects: +dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-277206 -dataset_size: 12.0GB -statistics: - total_episodes: 280 - total_frames: 277206 - total_tasks: 1 - total_videos: 840 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Lift the bag sub_tasks: - Lift the bag - Take out the hard disk of the bag @@ -60,7 +67,30 @@ sub_tasks: - Place the hard disk in the hard disk enclosure - Grasp the bag - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Tianqin_A2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 280 + total_frames: 277206 + total_tasks: 1 + total_videos: 840 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 277206 +dataset_size: 12.0GB +data_structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,40 +169,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Tianqin_A2_container_storage_graphics_card + dataset_name: container_storage_graphics_card + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Lift the bag + objects: *id001 + operation_platform_height: null + frame_range: 0-277206 + dataset_size: 12.0GB + statistics: *id002 + dataset_uuid: 5059394a-7089-4138-ab9c-db9bfadd94c8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Lift the bag + - Take out the hard disk of the bag + - End + - Place the down the bag + - Abnormal + - Place the hard disk in the hard disk enclosure + - Grasp the bag + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Tianqin_A2_container_storage_graphics_card_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/Tianqin_A2_place_the_paper_box.yaml b/dataset_info/Tianqin_A2_place_the_paper_box.yaml index e2ea32a0e5fc87f19106669439f93524cf46be99..fc50fffcac9efd02e65f76f88b8a949896b8a333 100644 --- a/dataset_info/Tianqin_A2_place_the_paper_box.yaml +++ b/dataset_info/Tianqin_A2_place_the_paper_box.yaml @@ -1,15 +1,35 @@ -path: Tianqin_A2_place_the_paper_box +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: place_the_paper_box -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-94841 -dataset_size: 3.0GB -statistics: - total_episodes: 236 - total_frames: 94841 - total_tasks: 1 - total_videos: 708 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Abnormal @@ -47,7 +54,30 @@ sub_tasks: - Place the data cable in the another box - Grasp the data cable - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: Tianqin_A2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 236 + total_frames: 94841 + total_tasks: 1 + total_videos: 708 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 94841 +dataset_size: 3.0GB +data_structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ + \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +129,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,40 +156,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │\ - \ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: Tianqin_A2_place_the_paper_box + dataset_name: place_the_paper_box + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-94841 + dataset_size: 3.0GB + statistics: *id002 + dataset_uuid: 291007f6-cfd0-4e23-bc97-da01c0f367ac + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Abnormal + - Grasp the paper box + - Place the paper box on the table + - Place the data cable in the another box + - Grasp the data cable + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_black_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_black_tablecloth.yaml index 3cc4e4bf0906092380f41991429cc33ec828a338..207379e35fb800c444e1ebe1efb1b2ae5f325189 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_black_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_black_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,40 +141,32 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to pick up the item and transfer it from the left gripper to - the right gripper. +task_result: 'null' +task_instruction: use the left gripper to pick up the item and transfer it from the + left gripper to the right gripper. sub_tasks: -- subtask: Grasp the XX with the right gripper - subtask_index: 0 -- subtask: Place the XX on the table with the left gripper - subtask_index: 1 -- subtask: Place the XX on the table with the right gripper - subtask_index: 2 -- subtask: Grasp the XX with the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Pass the xx to the right gripper - subtask_index: 5 -- subtask: 'null' - subtask_index: 6 +- Grasp the XX with the right gripper +- Place the XX on the table with the left gripper +- Place the XX on the table with the right gripper +- Grasp the XX with the left gripper +- End +- Pass the xx to the right gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -182,10 +174,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -193,7 +188,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 60078 fps: 30 @@ -278,9 +274,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -553,7 +551,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -561,6 +559,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -587,6 +586,194 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_left_to_right_black_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to pick up the item and transfer it from the left gripper + to the right gripper. + sub_tasks: + - subtask: Grasp the XX with the right gripper + subtask_index: 0 + - subtask: Place the XX on the table with the left gripper + subtask_index: 1 + - subtask: Place the XX on the table with the right gripper + subtask_index: 2 + - subtask: Grasp the XX with the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Pass the xx to the right gripper + subtask_index: 5 + - subtask: 'null' + subtask_index: 6 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 60078 + dataset_size: 1.18 GB + data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml index 2a079b0f47791e98d4436db33c1cfd901f9c7a28..e3c050d9ee3605f77d3f291b3e7c27c525ee564d 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,99 +141,60 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to pick up the item and transfer it from the left gripper to - the right gripper. +task_result: 'null' +task_instruction: use the left gripper to pick up the item and transfer it from the + left gripper to the right gripper. sub_tasks: -- subtask: Pass the purple garbage bag to the right gripper - subtask_index: 0 -- subtask: Pass the eggplant to the right gripper - subtask_index: 1 -- subtask: The right gripper places eggplant on the right side of the table - subtask_index: 2 -- subtask: Use the left gripper to grab the eggplant on the left side of the table - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Pass the yogurt to the right gripper - subtask_index: 5 -- subtask: The right gripper places banana on the right side of the table - subtask_index: 6 -- subtask: Use the left gripper to grab the cleaning agent on the left side of the - table - subtask_index: 7 -- subtask: Use the left gripper to grab the milk on the left side of the table - subtask_index: 8 -- subtask: Use the left gripper to grab the purple garbage bag on the left side of - the table - subtask_index: 9 -- subtask: Use the left gripper to grab the yogurt on the left side of the table - subtask_index: 10 -- subtask: Use the left gripper to grab the eyeglass case on the left side of the - table - subtask_index: 11 -- subtask: The right gripper places cleaning agent on the right side of the table - subtask_index: 12 -- subtask: Pass the cleaning agent to the right gripper - subtask_index: 13 -- subtask: Use the left gripper to grab the xx on the left side of the table - subtask_index: 14 -- subtask: The right gripper places xx on the right side of the table - subtask_index: 15 -- subtask: The right gripper places yogurt on the right side of the table - subtask_index: 16 -- subtask: The right gripper places Rubik's Cube on the right side of the table - subtask_index: 17 -- subtask: Pass the Rubik's Cube to the right gripper - subtask_index: 18 -- subtask: Pass the eyeglass case to the right gripper - subtask_index: 19 -- subtask: Pass the long bread to the right gripper - subtask_index: 20 -- subtask: The right gripper places grape on the right side of the table - subtask_index: 21 -- subtask: The right gripper places long bread on the right side of the table - subtask_index: 22 -- subtask: Use the left gripper to grab the grape on the left side of the table - subtask_index: 23 -- subtask: Use the left gripper to grab the long bread on the left side of the table - subtask_index: 24 -- subtask: The right gripper places purple garbage bag on the right side of the table - subtask_index: 25 -- subtask: Use the left gripper to grab the Rubik's Cube on the left side of the table - subtask_index: 26 -- subtask: Pass the banana to the right gripper - subtask_index: 27 -- subtask: The right gripper places milk on the right side of the table - subtask_index: 28 -- subtask: Pass the milk to the right gripper - subtask_index: 29 -- subtask: The right gripper places eyeglass case on the right side of the table - subtask_index: 30 -- subtask: Pass the grape to the right gripper - subtask_index: 31 -- subtask: Use the left gripper to grab the banana on the left side of the table - subtask_index: 32 -- subtask: Pass the xx to the right gripper - subtask_index: 33 -- subtask: 'null' - subtask_index: 34 +- Pass the purple garbage bag to the right gripper +- Pass the eggplant to the right gripper +- The right gripper places eggplant on the right side of the table +- Use the left gripper to grab the eggplant on the left side of the table +- End +- Pass the yogurt to the right gripper +- The right gripper places banana on the right side of the table +- Use the left gripper to grab the cleaning agent on the left side of the table +- Use the left gripper to grab the milk on the left side of the table +- Use the left gripper to grab the purple garbage bag on the left side of the table +- Use the left gripper to grab the yogurt on the left side of the table +- Use the left gripper to grab the eyeglass case on the left side of the table +- The right gripper places cleaning agent on the right side of the table +- Pass the cleaning agent to the right gripper +- Use the left gripper to grab the xx on the left side of the table +- The right gripper places xx on the right side of the table +- The right gripper places yogurt on the right side of the table +- The right gripper places Rubik's Cube on the right side of the table +- Pass the Rubik's Cube to the right gripper +- Pass the eyeglass case to the right gripper +- Pass the long bread to the right gripper +- The right gripper places grape on the right side of the table +- The right gripper places long bread on the right side of the table +- Use the left gripper to grab the grape on the left side of the table +- Use the left gripper to grab the long bread on the left side of the table +- The right gripper places purple garbage bag on the right side of the table +- Use the left gripper to grab the Rubik's Cube on the left side of the table +- Pass the banana to the right gripper +- The right gripper places milk on the right side of the table +- Pass the milk to the right gripper +- The right gripper places eyeglass case on the right side of the table +- Pass the grape to the right gripper +- Use the left gripper to grab the banana on the left side of the table +- Pass the xx to the right gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -241,10 +202,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -252,7 +216,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 96 total_frames: 64995 fps: 30 @@ -337,9 +302,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:95 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -612,7 +579,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -620,6 +587,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -646,6 +614,255 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_left_to_right_green_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to pick up the item and transfer it from the left gripper + to the right gripper. + sub_tasks: + - subtask: Pass the purple garbage bag to the right gripper + subtask_index: 0 + - subtask: Pass the eggplant to the right gripper + subtask_index: 1 + - subtask: The right gripper places eggplant on the right side of the table + subtask_index: 2 + - subtask: Use the left gripper to grab the eggplant on the left side of the table + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Pass the yogurt to the right gripper + subtask_index: 5 + - subtask: The right gripper places banana on the right side of the table + subtask_index: 6 + - subtask: Use the left gripper to grab the cleaning agent on the left side of the + table + subtask_index: 7 + - subtask: Use the left gripper to grab the milk on the left side of the table + subtask_index: 8 + - subtask: Use the left gripper to grab the purple garbage bag on the left side + of the table + subtask_index: 9 + - subtask: Use the left gripper to grab the yogurt on the left side of the table + subtask_index: 10 + - subtask: Use the left gripper to grab the eyeglass case on the left side of the + table + subtask_index: 11 + - subtask: The right gripper places cleaning agent on the right side of the table + subtask_index: 12 + - subtask: Pass the cleaning agent to the right gripper + subtask_index: 13 + - subtask: Use the left gripper to grab the xx on the left side of the table + subtask_index: 14 + - subtask: The right gripper places xx on the right side of the table + subtask_index: 15 + - subtask: The right gripper places yogurt on the right side of the table + subtask_index: 16 + - subtask: The right gripper places Rubik's Cube on the right side of the table + subtask_index: 17 + - subtask: Pass the Rubik's Cube to the right gripper + subtask_index: 18 + - subtask: Pass the eyeglass case to the right gripper + subtask_index: 19 + - subtask: Pass the long bread to the right gripper + subtask_index: 20 + - subtask: The right gripper places grape on the right side of the table + subtask_index: 21 + - subtask: The right gripper places long bread on the right side of the table + subtask_index: 22 + - subtask: Use the left gripper to grab the grape on the left side of the table + subtask_index: 23 + - subtask: Use the left gripper to grab the long bread on the left side of the table + subtask_index: 24 + - subtask: The right gripper places purple garbage bag on the right side of the + table + subtask_index: 25 + - subtask: Use the left gripper to grab the Rubik's Cube on the left side of the + table + subtask_index: 26 + - subtask: Pass the banana to the right gripper + subtask_index: 27 + - subtask: The right gripper places milk on the right side of the table + subtask_index: 28 + - subtask: Pass the milk to the right gripper + subtask_index: 29 + - subtask: The right gripper places eyeglass case on the right side of the table + subtask_index: 30 + - subtask: Pass the grape to the right gripper + subtask_index: 31 + - subtask: Use the left gripper to grab the banana on the left side of the table + subtask_index: 32 + - subtask: Pass the xx to the right gripper + subtask_index: 33 + - subtask: 'null' + subtask_index: 34 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 64995 + dataset_size: 795.75 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth.yaml index 71b9c5e858a6ee25c02f84451e3505a9ebd257fa..938f39b883d89aa38f09bbb26f15758f9ebf4139 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,122 +141,67 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to pick up the item and transfer it from the left gripper to - the right gripper. +task_result: 'null' +task_instruction: use the left gripper to pick up the item and transfer it from the + left gripper to the right gripper. sub_tasks: -- subtask: Pass the purple garbage bag to the right gripper - subtask_index: 0 -- subtask: Pass the shower sphere to the right gripper - subtask_index: 1 -- subtask: Place the milk on the table with the right gripper - subtask_index: 2 -- subtask: Place the XX on the table with the right gripper - subtask_index: 3 -- subtask: Pass the yogurt to the right gripper - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Pass the milk to the right gripper - subtask_index: 6 -- subtask: Place the purple garbage bag on the table with the right gripper - subtask_index: 7 -- subtask: Place the Rubik's Cube on the table with the right gripper - subtask_index: 8 -- subtask: Grasp the blue blackboard erasure with the left gripper - subtask_index: 9 -- subtask: Grasp the shower sphere with the left gripper - subtask_index: 10 -- subtask: Grasp the plush banana with the left gripper - subtask_index: 11 -- subtask: Grasp the yogurt with the left gripper - subtask_index: 12 -- subtask: 'Grasp the milk with the left gripper - - ' - subtask_index: 13 -- subtask: Pass the plush banana to the right gripper - subtask_index: 14 -- subtask: Place the blue blackboard erasure on the table with the right gripper - subtask_index: 15 -- subtask: Abnormal - subtask_index: 16 -- subtask: Grasp the XX with the left gripper - subtask_index: 17 -- subtask: Grasp the blue blackboard erasure with the left grippe - subtask_index: 18 -- subtask: Pass the Rubik's Cube to the right gripper - subtask_index: 19 -- subtask: 'Place the milk on the table with the right gripper - - ' - subtask_index: 20 -- subtask: 'Pass the long bread to the right gripper - - ' - subtask_index: 21 -- subtask: ' - - Pass the milk to the right gripper' - subtask_index: 22 -- subtask: Pass the long bread to the right gripper - subtask_index: 23 -- subtask: Grasp the milk with the left gripper - subtask_index: 24 -- subtask: Pass the blue blackboard erasure to the right gripper - subtask_index: 25 -- subtask: Place the long bread on the table with the right gripper - subtask_index: 26 -- subtask: Grasp the long bread with the left gripper - subtask_index: 27 -- subtask: Grasp the Rubik's Cube with the left gripper - subtask_index: 28 -- subtask: Place the yogurt on the table with the right gripper - subtask_index: 29 -- subtask: Place the plush banana on the table with the right gripper - subtask_index: 30 -- subtask: 'Pass the milk to the right gripper - - ' - subtask_index: 31 -- subtask: Place the grape on the table with the right gripper - subtask_index: 32 -- subtask: 'Grasp the long bread with the left gripper - - ' - subtask_index: 33 -- subtask: Pass the milk to the right gripper - subtask_index: 34 -- subtask: Pass the grape to the right gripper - subtask_index: 35 -- subtask: Pass the blue garbage bag to the right gripper - subtask_index: 36 -- subtask: Pass the xx to the right gripper - subtask_index: 37 -- subtask: Grasp the grape with the left gripper - subtask_index: 38 -- subtask: Grasp the purple garbage bag with the left gripper - subtask_index: 39 -- subtask: Place the shower sphere on the table with the right gripper - subtask_index: 40 -- subtask: 'null' - subtask_index: 41 +- Pass the purple garbage bag to the right gripper +- Pass the shower sphere to the right gripper +- Place the milk on the table with the right gripper +- Place the XX on the table with the right gripper +- Pass the yogurt to the right gripper +- End +- Pass the milk to the right gripper +- Place the purple garbage bag on the table with the right gripper +- Place the Rubik's Cube on the table with the right gripper +- Grasp the blue blackboard erasure with the left gripper +- Grasp the shower sphere with the left gripper +- Grasp the plush banana with the left gripper +- Grasp the yogurt with the left gripper +- Grasp the milk with the left gripper +- Pass the plush banana to the right gripper +- Place the blue blackboard erasure on the table with the right gripper +- Abnormal +- Grasp the XX with the left gripper +- Grasp the blue blackboard erasure with the left grippe +- Pass the Rubik's Cube to the right gripper +- Place the milk on the table with the right gripper +- Pass the long bread to the right gripper +- Pass the milk to the right gripper +- Pass the long bread to the right gripper +- Grasp the milk with the left gripper +- Pass the blue blackboard erasure to the right gripper +- Place the long bread on the table with the right gripper +- Grasp the long bread with the left gripper +- Grasp the Rubik's Cube with the left gripper +- Place the yogurt on the table with the right gripper +- Place the plush banana on the table with the right gripper +- Pass the milk to the right gripper +- Place the grape on the table with the right gripper +- Grasp the long bread with the left gripper +- Pass the milk to the right gripper +- Pass the grape to the right gripper +- Pass the blue garbage bag to the right gripper +- Pass the xx to the right gripper +- Grasp the grape with the left gripper +- Grasp the purple garbage bag with the left gripper +- Place the shower sphere on the table with the right gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -264,10 +209,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -275,7 +223,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 97 total_frames: 53653 fps: 30 @@ -360,9 +309,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:96 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -635,7 +586,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -643,6 +594,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -669,6 +621,276 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to pick up the item and transfer it from the left gripper + to the right gripper. + sub_tasks: + - subtask: Pass the purple garbage bag to the right gripper + subtask_index: 0 + - subtask: Pass the shower sphere to the right gripper + subtask_index: 1 + - subtask: Place the milk on the table with the right gripper + subtask_index: 2 + - subtask: Place the XX on the table with the right gripper + subtask_index: 3 + - subtask: Pass the yogurt to the right gripper + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Pass the milk to the right gripper + subtask_index: 6 + - subtask: Place the purple garbage bag on the table with the right gripper + subtask_index: 7 + - subtask: Place the Rubik's Cube on the table with the right gripper + subtask_index: 8 + - subtask: Grasp the blue blackboard erasure with the left gripper + subtask_index: 9 + - subtask: Grasp the shower sphere with the left gripper + subtask_index: 10 + - subtask: Grasp the plush banana with the left gripper + subtask_index: 11 + - subtask: Grasp the yogurt with the left gripper + subtask_index: 12 + - subtask: 'Grasp the milk with the left gripper + + ' + subtask_index: 13 + - subtask: Pass the plush banana to the right gripper + subtask_index: 14 + - subtask: Place the blue blackboard erasure on the table with the right gripper + subtask_index: 15 + - subtask: Abnormal + subtask_index: 16 + - subtask: Grasp the XX with the left gripper + subtask_index: 17 + - subtask: Grasp the blue blackboard erasure with the left grippe + subtask_index: 18 + - subtask: Pass the Rubik's Cube to the right gripper + subtask_index: 19 + - subtask: 'Place the milk on the table with the right gripper + + ' + subtask_index: 20 + - subtask: 'Pass the long bread to the right gripper + + ' + subtask_index: 21 + - subtask: ' + + Pass the milk to the right gripper' + subtask_index: 22 + - subtask: Pass the long bread to the right gripper + subtask_index: 23 + - subtask: Grasp the milk with the left gripper + subtask_index: 24 + - subtask: Pass the blue blackboard erasure to the right gripper + subtask_index: 25 + - subtask: Place the long bread on the table with the right gripper + subtask_index: 26 + - subtask: Grasp the long bread with the left gripper + subtask_index: 27 + - subtask: Grasp the Rubik's Cube with the left gripper + subtask_index: 28 + - subtask: Place the yogurt on the table with the right gripper + subtask_index: 29 + - subtask: Place the plush banana on the table with the right gripper + subtask_index: 30 + - subtask: 'Pass the milk to the right gripper + + ' + subtask_index: 31 + - subtask: Place the grape on the table with the right gripper + subtask_index: 32 + - subtask: 'Grasp the long bread with the left gripper + + ' + subtask_index: 33 + - subtask: Pass the milk to the right gripper + subtask_index: 34 + - subtask: Pass the grape to the right gripper + subtask_index: 35 + - subtask: Pass the blue garbage bag to the right gripper + subtask_index: 36 + - subtask: Pass the xx to the right gripper + subtask_index: 37 + - subtask: Grasp the grape with the left gripper + subtask_index: 38 + - subtask: Grasp the purple garbage bag with the left gripper + subtask_index: 39 + - subtask: Place the shower sphere on the table with the right gripper + subtask_index: 40 + - subtask: 'null' + subtask_index: 41 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 53653 + dataset_size: 636.04 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (85 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_white_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_white_tablecloth.yaml index c5a1816bbc6cc3519011caa7af32555a274768da..ba4fda880c578becd764784b6dcfff840e33c87c 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_white_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_white_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,38 +141,31 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the left gripper to pick up the item and transfer it from the left gripper to - the right gripper. +task_result: 'null' +task_instruction: use the left gripper to pick up the item and transfer it from the + left gripper to the right gripper. sub_tasks: -- subtask: Unlabeled - subtask_index: 0 -- subtask: Grasp the Rubik's Cube with the left gripper - subtask_index: 1 -- subtask: Pass the Rubik's Cube to the right gripper - subtask_index: 2 -- subtask: End - subtask_index: 3 -- subtask: Place the Rubik's Cube on the table with the right gripper - subtask_index: 4 -- subtask: 'null' - subtask_index: 5 +- Unlabeled +- Grasp the Rubik's Cube with the left gripper +- Pass the Rubik's Cube to the right gripper +- End +- Place the Rubik's Cube on the table with the right gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -180,10 +173,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -191,7 +187,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 96 total_frames: 55704 fps: 30 @@ -276,9 +273,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:95 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -551,7 +550,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -559,6 +558,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -585,6 +585,192 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_left_to_right_white_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the left gripper to pick up the item and transfer it from the left gripper + to the right gripper. + sub_tasks: + - subtask: Unlabeled + subtask_index: 0 + - subtask: Grasp the Rubik's Cube with the left gripper + subtask_index: 1 + - subtask: Pass the Rubik's Cube to the right gripper + subtask_index: 2 + - subtask: End + subtask_index: 3 + - subtask: Place the Rubik's Cube on the table with the right gripper + subtask_index: 4 + - subtask: 'null' + subtask_index: 5 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 55704 + dataset_size: 546.67 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_white_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_black_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_black_tablecloth.yaml index 70f4a69a67fcf67b33aa6847d8cab0948f9e1770..b6da421c49bedae2ffd175d2ee29991b2757b3bf 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_black_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_black_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,98 +141,57 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the item and transfer it from the right gripper - to the left gripper. +task_result: 'null' +task_instruction: use the right gripper to pick up the item and transfer it from the + right gripper to the left gripper. sub_tasks: -- subtask: The left gripper places milk on the left side of the table - subtask_index: 0 -- subtask: The left gripper places bread on the left side of the table - subtask_index: 1 -- subtask: Pass the bread to the left gripper - subtask_index: 2 -- subtask: Pass the shower sphere to the left gripper - subtask_index: 3 -- subtask: Use the right gripper to grab the bread on the right side of the table - subtask_index: 4 -- subtask: Use the right gripper to grab the grape on the right side of the table - subtask_index: 5 -- subtask: End - subtask_index: 6 -- subtask: Use the right gripper to grab the banana on the right side of the table - subtask_index: 7 -- subtask: Pass the purple garbage bag to the left gripper - subtask_index: 8 -- subtask: Pass the Rubik's Cube to the left gripper - subtask_index: 9 -- subtask: The left gripper places yogurt on the left side of the table - subtask_index: 10 -- subtask: The left gripper places shower sphere on the left side of the table - subtask_index: 11 -- subtask: Use the right gripper to grab the shower sphere on the right side of the - table - subtask_index: 12 -- subtask: Use the right gripper to grab the grapes on the right side of the table - subtask_index: 13 -- subtask: Pass the yogurt to the left gripper - subtask_index: 14 -- subtask: The left gripper places grape on the left side of the table - subtask_index: 15 -- subtask: The left gripper places grapes on the left side of the table - subtask_index: 16 -- subtask: Use the right gripper to grab the milk on the right side of the table - subtask_index: 17 -- subtask: Pass the milk to the left gripper - subtask_index: 18 -- subtask: The left gripper places banana on the left side of the table - subtask_index: 19 -- subtask: Use the right gripper to grab the eyeglass case on the right side of the - table - subtask_index: 20 -- subtask: Pass the banana to the left gripper - subtask_index: 21 -- subtask: Pass the grapes to the left gripper - subtask_index: 22 -- subtask: Use the right gripper to grab the purple garbage bag on the right side - of the table - subtask_index: 23 -- subtask: Pass the grape to the left gripper - subtask_index: 24 -- subtask: The left gripper places eyeglass case on the left side of the table - subtask_index: 25 -- subtask: Pass the eyeglass case to the left gripper - subtask_index: 26 -- subtask: Use the right gripper to grab the yogurt on the right side of the table - subtask_index: 27 -- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the - table - subtask_index: 28 -- subtask: ' - - Pass the milk to the left gripper - - ' - subtask_index: 29 -- subtask: The left gripper places purple garbage bag on the left side of the table - subtask_index: 30 -- subtask: 'null' - subtask_index: 31 +- The left gripper places milk on the left side of the table +- The left gripper places bread on the left side of the table +- Pass the bread to the left gripper +- Pass the shower sphere to the left gripper +- Use the right gripper to grab the bread on the right side of the table +- Use the right gripper to grab the grape on the right side of the table +- End +- Use the right gripper to grab the banana on the right side of the table +- Pass the purple garbage bag to the left gripper +- Pass the Rubik's Cube to the left gripper +- The left gripper places yogurt on the left side of the table +- The left gripper places shower sphere on the left side of the table +- Use the right gripper to grab the shower sphere on the right side of the table +- Use the right gripper to grab the grapes on the right side of the table +- Pass the yogurt to the left gripper +- The left gripper places grape on the left side of the table +- The left gripper places grapes on the left side of the table +- Use the right gripper to grab the milk on the right side of the table +- Pass the milk to the left gripper +- The left gripper places banana on the left side of the table +- Use the right gripper to grab the eyeglass case on the right side of the table +- Pass the banana to the left gripper +- Pass the grapes to the left gripper +- Use the right gripper to grab the purple garbage bag on the right side of the table +- Pass the grape to the left gripper +- The left gripper places eyeglass case on the left side of the table +- Pass the eyeglass case to the left gripper +- Use the right gripper to grab the yogurt on the right side of the table +- Use the right gripper to grab the Rubik's Cube on the right side of the table +- Pass the milk to the left gripper +- The left gripper places purple garbage bag on the left side of the table +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -240,10 +199,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -251,7 +213,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 93 total_frames: 59541 fps: 30 @@ -336,9 +299,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:92 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -611,7 +576,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -619,6 +584,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -645,6 +611,252 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_right_to_left_black_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the item and transfer it from the right gripper + to the left gripper. + sub_tasks: + - subtask: The left gripper places milk on the left side of the table + subtask_index: 0 + - subtask: The left gripper places bread on the left side of the table + subtask_index: 1 + - subtask: Pass the bread to the left gripper + subtask_index: 2 + - subtask: Pass the shower sphere to the left gripper + subtask_index: 3 + - subtask: Use the right gripper to grab the bread on the right side of the table + subtask_index: 4 + - subtask: Use the right gripper to grab the grape on the right side of the table + subtask_index: 5 + - subtask: End + subtask_index: 6 + - subtask: Use the right gripper to grab the banana on the right side of the table + subtask_index: 7 + - subtask: Pass the purple garbage bag to the left gripper + subtask_index: 8 + - subtask: Pass the Rubik's Cube to the left gripper + subtask_index: 9 + - subtask: The left gripper places yogurt on the left side of the table + subtask_index: 10 + - subtask: The left gripper places shower sphere on the left side of the table + subtask_index: 11 + - subtask: Use the right gripper to grab the shower sphere on the right side of + the table + subtask_index: 12 + - subtask: Use the right gripper to grab the grapes on the right side of the table + subtask_index: 13 + - subtask: Pass the yogurt to the left gripper + subtask_index: 14 + - subtask: The left gripper places grape on the left side of the table + subtask_index: 15 + - subtask: The left gripper places grapes on the left side of the table + subtask_index: 16 + - subtask: Use the right gripper to grab the milk on the right side of the table + subtask_index: 17 + - subtask: Pass the milk to the left gripper + subtask_index: 18 + - subtask: The left gripper places banana on the left side of the table + subtask_index: 19 + - subtask: Use the right gripper to grab the eyeglass case on the right side of + the table + subtask_index: 20 + - subtask: Pass the banana to the left gripper + subtask_index: 21 + - subtask: Pass the grapes to the left gripper + subtask_index: 22 + - subtask: Use the right gripper to grab the purple garbage bag on the right side + of the table + subtask_index: 23 + - subtask: Pass the grape to the left gripper + subtask_index: 24 + - subtask: The left gripper places eyeglass case on the left side of the table + subtask_index: 25 + - subtask: Pass the eyeglass case to the left gripper + subtask_index: 26 + - subtask: Use the right gripper to grab the yogurt on the right side of the table + subtask_index: 27 + - subtask: Use the right gripper to grab the Rubik's Cube on the right side of the + table + subtask_index: 28 + - subtask: ' + + Pass the milk to the left gripper + + ' + subtask_index: 29 + - subtask: The left gripper places purple garbage bag on the left side of the table + subtask_index: 30 + - subtask: 'null' + subtask_index: 31 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 59541 + dataset_size: 1.15 GB + data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (81 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_green_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_green_tablecloth.yaml index 89dfb2cb95b1fe81a48e0e2bd7e11aacaf2287f7..a5c41aad7081761e247195eee1c3597d09895645 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_green_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_green_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,174 +141,78 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the item and transfer it from the right gripper - to the left gripper. +task_result: 'null' +task_instruction: use the right gripper to pick up the item and transfer it from the + right gripper to the left gripper. sub_tasks: -- subtask: The left gripper places milk on the left side of the table - subtask_index: 0 -- subtask: The left gripper places bread on the left side of the table - subtask_index: 1 -- subtask: Use the right gripper to grab the shampoo on the right side of the table - subtask_index: 2 -- subtask: Use the right to grab the bread on the right side of table - subtask_index: 3 -- subtask: Pass the bread to the left gripper - subtask_index: 4 -- subtask: Use the right gripper to grab the bread on the right side of the table - subtask_index: 5 -- subtask: 'The left gripper places grape on the left side of the table - - ' - subtask_index: 6 -- subtask: End - subtask_index: 7 -- subtask: 'The left gripper places bread on the left side of the table - - ' - subtask_index: 8 -- subtask: Pass the eggplant to the left gripper - subtask_index: 9 -- subtask: The left gripper places yogurt on the left side of the table - subtask_index: 10 -- subtask: Pass the purple garbage bag to the left gripper - subtask_index: 11 -- subtask: 'Use the right gripper to grab the xbreadon the right side of the table - - ' - subtask_index: 12 -- subtask: The left gripper places yogurt on the left side of the table - subtask_index: 13 -- subtask: Pass the Rubik's Cube to the left gripper - subtask_index: 14 -- subtask: 'Use the right gripper to grab the grape on the right side of the table - - ' - subtask_index: 15 -- subtask: Use the right gripper to grab the grape on the right side of the table - subtask_index: 16 -- subtask: Pass the yogurt to the left gripper - subtask_index: 17 -- subtask: 'Pass the bread to the left gripper - - ' - subtask_index: 18 -- subtask: 'Use the right gripper to grab the yogurt on the right side of the table - - ' - subtask_index: 19 -- subtask: Pass the grape to the left grippe - subtask_index: 20 -- subtask: 'Use the right gripper to grab the milk on the right side of the table - - ' - subtask_index: 21 -- subtask: The left gripper places shampoo on the left side of the table - subtask_index: 22 -- subtask: The left gripper places grape on the left side of the table - subtask_index: 23 -- subtask: The left gripper places eggplant on the left side of the table - subtask_index: 24 -- subtask: Use the right gripper to grab the milk on the right side of the table - subtask_index: 25 -- subtask: Pass the milk to the left gripper - subtask_index: 26 -- subtask: The left gripper places banana on the left side of the table - subtask_index: 27 -- subtask: The left gripper places milk on the left side of the table - subtask_index: 28 -- subtask: The left gripper places xx on the left side of the table - subtask_index: 29 -- subtask: Pass the shampoo to the left gripper - subtask_index: 30 -- subtask: ' - - Pass the bread to the left gripper - - ' - subtask_index: 31 -- subtask: 'Use the right gripper to grab the bread on the right side of the table - - ' - subtask_index: 32 -- subtask: The left gripper places purple garbage bag on the left side of the table - subtask_index: 33 -- subtask: Use the right gripper to grab the xx on the right side of the table - subtask_index: 34 -- subtask: 'Pass the milk to the left gripper - - ' - subtask_index: 35 -- subtask: Pass the banana to the left gripper - subtask_index: 36 -- subtask: 'Pass the shampoo to the left gripper - - ' - subtask_index: 37 -- subtask: The left gripper places Rubik's Cube on the left side of the table - subtask_index: 38 -- subtask: Use the right gripper to grab the purple garbage bag on the right side - of the table - subtask_index: 39 -- subtask: ' - - Pass the yogurt to the left gripper' - subtask_index: 40 -- subtask: ' - - Pass the bread to the left gripper' - subtask_index: 41 -- subtask: Use the right gripper to shampoo the on the right side of the table - subtask_index: 42 -- subtask: 'User the right gripper to grab the grape on the right side of the table - - ' - subtask_index: 43 -- subtask: 'The left gripper places milk on the left side of the table - - ' - subtask_index: 44 -- subtask: Use the right gripper to grab the yogurt on the right side of the table - subtask_index: 45 -- subtask: 'The left gripper places yogurt on the left side of the table - - ' - subtask_index: 46 -- subtask: Use the right gripper to grab the shampoo on the right side of the table - subtask_index: 47 -- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the - table - subtask_index: 48 -- subtask: ' - - Pass the milk to the left gripper - - ' - subtask_index: 49 -- subtask: Pass the grape to the left gripper - subtask_index: 50 -- subtask: 'Pass the grape to the left gripper - - ' - subtask_index: 51 -- subtask: 'null' - subtask_index: 52 +- The left gripper places milk on the left side of the table +- The left gripper places bread on the left side of the table +- Use the right gripper to grab the shampoo on the right side of the table +- Use the right to grab the bread on the right side of table +- Pass the bread to the left gripper +- Use the right gripper to grab the bread on the right side of the table +- The left gripper places grape on the left side of the table +- End +- The left gripper places bread on the left side of the table +- Pass the eggplant to the left gripper +- The left gripper places yogurt on the left side of the table +- Pass the purple garbage bag to the left gripper +- Use the right gripper to grab the xbreadon the right side of the table +- The left gripper places yogurt on the left side of the table +- Pass the Rubik's Cube to the left gripper +- Use the right gripper to grab the grape on the right side of the table +- Use the right gripper to grab the grape on the right side of the table +- Pass the yogurt to the left gripper +- Pass the bread to the left gripper +- Use the right gripper to grab the yogurt on the right side of the table +- Pass the grape to the left grippe +- Use the right gripper to grab the milk on the right side of the table +- The left gripper places shampoo on the left side of the table +- The left gripper places grape on the left side of the table +- The left gripper places eggplant on the left side of the table +- Use the right gripper to grab the milk on the right side of the table +- Pass the milk to the left gripper +- The left gripper places banana on the left side of the table +- The left gripper places milk on the left side of the table +- The left gripper places xx on the left side of the table +- Pass the shampoo to the left gripper +- Pass the bread to the left gripper +- Use the right gripper to grab the bread on the right side of the table +- The left gripper places purple garbage bag on the left side of the table +- Use the right gripper to grab the xx on the right side of the table +- Pass the milk to the left gripper +- Pass the banana to the left gripper +- Pass the shampoo to the left gripper +- The left gripper places Rubik's Cube on the left side of the table +- Use the right gripper to grab the purple garbage bag on the right side of the table +- Pass the yogurt to the left gripper +- Pass the bread to the left gripper +- Use the right gripper to shampoo the on the right side of the table +- User the right gripper to grab the grape on the right side of the table +- The left gripper places milk on the left side of the table +- Use the right gripper to grab the yogurt on the right side of the table +- The left gripper places yogurt on the left side of the table +- Use the right gripper to grab the shampoo on the right side of the table +- Use the right gripper to grab the Rubik's Cube on the right side of the table +- Pass the milk to the left gripper +- Pass the grape to the left gripper +- Pass the grape to the left gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -316,10 +220,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -327,7 +234,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 69065 fps: 30 @@ -412,9 +320,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -687,7 +597,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -695,6 +605,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -721,6 +632,328 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_right_to_left_green_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the item and transfer it from the right gripper + to the left gripper. + sub_tasks: + - subtask: The left gripper places milk on the left side of the table + subtask_index: 0 + - subtask: The left gripper places bread on the left side of the table + subtask_index: 1 + - subtask: Use the right gripper to grab the shampoo on the right side of the table + subtask_index: 2 + - subtask: Use the right to grab the bread on the right side of table + subtask_index: 3 + - subtask: Pass the bread to the left gripper + subtask_index: 4 + - subtask: Use the right gripper to grab the bread on the right side of the table + subtask_index: 5 + - subtask: 'The left gripper places grape on the left side of the table + + ' + subtask_index: 6 + - subtask: End + subtask_index: 7 + - subtask: 'The left gripper places bread on the left side of the table + + ' + subtask_index: 8 + - subtask: Pass the eggplant to the left gripper + subtask_index: 9 + - subtask: The left gripper places yogurt on the left side of the table + subtask_index: 10 + - subtask: Pass the purple garbage bag to the left gripper + subtask_index: 11 + - subtask: 'Use the right gripper to grab the xbreadon the right side of the table + + ' + subtask_index: 12 + - subtask: The left gripper places yogurt on the left side of the table + subtask_index: 13 + - subtask: Pass the Rubik's Cube to the left gripper + subtask_index: 14 + - subtask: 'Use the right gripper to grab the grape on the right side of the table + + ' + subtask_index: 15 + - subtask: Use the right gripper to grab the grape on the right side of the table + subtask_index: 16 + - subtask: Pass the yogurt to the left gripper + subtask_index: 17 + - subtask: 'Pass the bread to the left gripper + + ' + subtask_index: 18 + - subtask: 'Use the right gripper to grab the yogurt on the right side of the table + + ' + subtask_index: 19 + - subtask: Pass the grape to the left grippe + subtask_index: 20 + - subtask: 'Use the right gripper to grab the milk on the right side of the table + + ' + subtask_index: 21 + - subtask: The left gripper places shampoo on the left side of the table + subtask_index: 22 + - subtask: The left gripper places grape on the left side of the table + subtask_index: 23 + - subtask: The left gripper places eggplant on the left side of the table + subtask_index: 24 + - subtask: Use the right gripper to grab the milk on the right side of the table + subtask_index: 25 + - subtask: Pass the milk to the left gripper + subtask_index: 26 + - subtask: The left gripper places banana on the left side of the table + subtask_index: 27 + - subtask: The left gripper places milk on the left side of the table + subtask_index: 28 + - subtask: The left gripper places xx on the left side of the table + subtask_index: 29 + - subtask: Pass the shampoo to the left gripper + subtask_index: 30 + - subtask: ' + + Pass the bread to the left gripper + + ' + subtask_index: 31 + - subtask: 'Use the right gripper to grab the bread on the right side of the table + + ' + subtask_index: 32 + - subtask: The left gripper places purple garbage bag on the left side of the table + subtask_index: 33 + - subtask: Use the right gripper to grab the xx on the right side of the table + subtask_index: 34 + - subtask: 'Pass the milk to the left gripper + + ' + subtask_index: 35 + - subtask: Pass the banana to the left gripper + subtask_index: 36 + - subtask: 'Pass the shampoo to the left gripper + + ' + subtask_index: 37 + - subtask: The left gripper places Rubik's Cube on the left side of the table + subtask_index: 38 + - subtask: Use the right gripper to grab the purple garbage bag on the right side + of the table + subtask_index: 39 + - subtask: ' + + Pass the yogurt to the left gripper' + subtask_index: 40 + - subtask: ' + + Pass the bread to the left gripper' + subtask_index: 41 + - subtask: Use the right gripper to shampoo the on the right side of the table + subtask_index: 42 + - subtask: 'User the right gripper to grab the grape on the right side of the table + + ' + subtask_index: 43 + - subtask: 'The left gripper places milk on the left side of the table + + ' + subtask_index: 44 + - subtask: Use the right gripper to grab the yogurt on the right side of the table + subtask_index: 45 + - subtask: 'The left gripper places yogurt on the left side of the table + + ' + subtask_index: 46 + - subtask: Use the right gripper to grab the shampoo on the right side of the table + subtask_index: 47 + - subtask: Use the right gripper to grab the Rubik's Cube on the right side of the + table + subtask_index: 48 + - subtask: ' + + Pass the milk to the left gripper + + ' + subtask_index: 49 + - subtask: Pass the grape to the left gripper + subtask_index: 50 + - subtask: 'Pass the grape to the left gripper + + ' + subtask_index: 51 + - subtask: 'null' + subtask_index: 52 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 69065 + dataset_size: 884.48 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth.yaml index 121fecfa44dd2627e91405aeeeac72003ecb3331..735d492aa055a4ba53e045cbbc512856ba866c98 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,30 +141,27 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the item and transfer it from the right gripper - to the left gripper. +task_result: 'null' +task_instruction: use the right gripper to pick up the item and transfer it from the + right gripper to the left gripper. sub_tasks: -- subtask: Unlabeled - subtask_index: 0 -- subtask: 'null' - subtask_index: 1 +- Unlabeled +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -172,10 +169,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -183,7 +183,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 98 total_frames: 64158 fps: 30 @@ -268,9 +269,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:97 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -543,7 +546,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -551,6 +554,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -577,6 +581,184 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the item and transfer it from the right gripper + to the left gripper. + sub_tasks: + - subtask: Unlabeled + subtask_index: 0 + - subtask: 'null' + subtask_index: 1 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 64158 + dataset_size: 749.82 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (86 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_red_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_red_tablecloth.yaml index 235ecf9a7be8f60a7416d1a5ff4a2a8a867767a5..043d0e940eac6a732e808ca3c47f6af11d55c9a8 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_red_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_red_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,115 +141,67 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the item and transfer it from the right gripper - to the left gripper. +task_result: 'null' +task_instruction: use the right gripper to pick up the item and transfer it from the + right gripper to the left gripper. sub_tasks: -- subtask: The left gripper places milk on the left side of the table - subtask_index: 0 -- subtask: The left gripper places anmuxi on the left side of the table - subtask_index: 1 -- subtask: The left gripper places Rubik's Cube on the left side of the table - subtask_index: 2 -- subtask: Pass the blue blackboard erasure to the left gripper - subtask_index: 3 -- subtask: End - subtask_index: 4 -- subtask: Pass the eggplant to the left gripper - subtask_index: 5 -- subtask: Pass the Rubik's Cube to the left gripper - subtask_index: 6 -- subtask: The left gripper places yogurt on the left side of the table - subtask_index: 7 -- subtask: Pass the square chewing gum to the left gripper - subtask_index: 8 -- subtask: Use the right gripper to grab the grape on the right side of the table - subtask_index: 9 -- subtask: Pass the yogurt to the left gripper - subtask_index: 10 -- subtask: The left gripper places eggplant on the left side of the table - subtask_index: 11 -- subtask: The left gripper places grape on the left side of the table - subtask_index: 12 -- subtask: Use the right gripper to grab the milk on the right side of the table - subtask_index: 13 -- subtask: Pass the milk to the left gripper - subtask_index: 14 -- subtask: Use the right gripper to grab the eggplant on the right side of the table - subtask_index: 15 -- subtask: The left gripper places xx on the left side of the table - subtask_index: 16 -- subtask: Pass the shower sphereto the left gripper - subtask_index: 17 -- subtask: Use the right gripper to grab the shower sphere on the right side of the - table - subtask_index: 18 -- subtask: Use the right gripper to grab the Anmuxi on the right side of the table. - subtask_index: 19 -- subtask: Use the right gripper to grab the xx on the right side of the table - subtask_index: 20 -- subtask: The left gripper places shower sphere on the left side of the table - subtask_index: 21 -- subtask: Use the right gripper to grab the blue blackboard erasure on the right - side of the table - subtask_index: 22 -- subtask: Use the right gripper to grab the plush banana on the right side of the - table - subtask_index: 23 -- subtask: Pass the plush banana to the left gripper - subtask_index: 24 -- subtask: Pass the shower sphere to the left gripper - subtask_index: 25 -- subtask: Pass the to the yogurt left gripper - subtask_index: 26 -- subtask: The left gripper places blue blackboard erasure on the left side of the - table - subtask_index: 27 -- subtask: The left gripper places plush banana on the left side of the table - subtask_index: 28 -- subtask: Use the right gripper to grab the square chewing gum on the right side - of the table - subtask_index: 29 -- subtask: The left gripper places square chewing gum on the left side of the table - subtask_index: 30 -- subtask: The left gripper places eyeglass case on the left side of the table - subtask_index: 31 -- subtask: Pass the xx to the left gripper - subtask_index: 32 -- subtask: Pass the eyeglass case to the left gripper - subtask_index: 33 -- subtask: Use the right gripper to grab the yogurt on the right side of the table - subtask_index: 34 -- subtask: Use the right gripper to grab the eyeglass case on the right side of the - table - subtask_index: 35 -- subtask: Pass the yogurt to the left gripper - subtask_index: 36 -- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the - table - subtask_index: 37 -- subtask: Pass the anmuxi to the left gripper - subtask_index: 38 -- subtask: Pass the grape to the left gripper - subtask_index: 39 -- subtask: 'null' - subtask_index: 40 +- The left gripper places milk on the left side of the table +- The left gripper places anmuxi on the left side of the table +- The left gripper places Rubik's Cube on the left side of the table +- Pass the blue blackboard erasure to the left gripper +- End +- Pass the eggplant to the left gripper +- Pass the Rubik's Cube to the left gripper +- The left gripper places yogurt on the left side of the table +- Pass the square chewing gum to the left gripper +- Use the right gripper to grab the grape on the right side of the table +- Pass the yogurt to the left gripper +- The left gripper places eggplant on the left side of the table +- The left gripper places grape on the left side of the table +- Use the right gripper to grab the milk on the right side of the table +- Pass the milk to the left gripper +- Use the right gripper to grab the eggplant on the right side of the table +- The left gripper places xx on the left side of the table +- Pass the shower sphereto the left gripper +- Use the right gripper to grab the shower sphere on the right side of the table +- Use the right gripper to grab the Anmuxi on the right side of the table. +- Use the right gripper to grab the xx on the right side of the table +- The left gripper places shower sphere on the left side of the table +- Use the right gripper to grab the blue blackboard erasure on the right side of the + table +- Use the right gripper to grab the plush banana on the right side of the table +- Pass the plush banana to the left gripper +- Pass the shower sphere to the left gripper +- Pass the to the yogurt left gripper +- The left gripper places blue blackboard erasure on the left side of the table +- The left gripper places plush banana on the left side of the table +- Use the right gripper to grab the square chewing gum on the right side of the table +- The left gripper places square chewing gum on the left side of the table +- The left gripper places eyeglass case on the left side of the table +- Pass the xx to the left gripper +- Pass the eyeglass case to the left gripper +- Use the right gripper to grab the yogurt on the right side of the table +- Use the right gripper to grab the eyeglass case on the right side of the table +- Pass the yogurt to the left gripper +- Use the right gripper to grab the Rubik's Cube on the right side of the table +- Pass the anmuxi to the left gripper +- Pass the grape to the left gripper +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -257,10 +209,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -268,7 +223,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 58861 fps: 30 @@ -353,9 +309,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth_qce |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -628,7 +586,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -636,6 +594,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -662,6 +621,269 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_right_to_left_red_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the item and transfer it from the right gripper + to the left gripper. + sub_tasks: + - subtask: The left gripper places milk on the left side of the table + subtask_index: 0 + - subtask: The left gripper places anmuxi on the left side of the table + subtask_index: 1 + - subtask: The left gripper places Rubik's Cube on the left side of the table + subtask_index: 2 + - subtask: Pass the blue blackboard erasure to the left gripper + subtask_index: 3 + - subtask: End + subtask_index: 4 + - subtask: Pass the eggplant to the left gripper + subtask_index: 5 + - subtask: Pass the Rubik's Cube to the left gripper + subtask_index: 6 + - subtask: The left gripper places yogurt on the left side of the table + subtask_index: 7 + - subtask: Pass the square chewing gum to the left gripper + subtask_index: 8 + - subtask: Use the right gripper to grab the grape on the right side of the table + subtask_index: 9 + - subtask: Pass the yogurt to the left gripper + subtask_index: 10 + - subtask: The left gripper places eggplant on the left side of the table + subtask_index: 11 + - subtask: The left gripper places grape on the left side of the table + subtask_index: 12 + - subtask: Use the right gripper to grab the milk on the right side of the table + subtask_index: 13 + - subtask: Pass the milk to the left gripper + subtask_index: 14 + - subtask: Use the right gripper to grab the eggplant on the right side of the table + subtask_index: 15 + - subtask: The left gripper places xx on the left side of the table + subtask_index: 16 + - subtask: Pass the shower sphereto the left gripper + subtask_index: 17 + - subtask: Use the right gripper to grab the shower sphere on the right side of + the table + subtask_index: 18 + - subtask: Use the right gripper to grab the Anmuxi on the right side of the table. + subtask_index: 19 + - subtask: Use the right gripper to grab the xx on the right side of the table + subtask_index: 20 + - subtask: The left gripper places shower sphere on the left side of the table + subtask_index: 21 + - subtask: Use the right gripper to grab the blue blackboard erasure on the right + side of the table + subtask_index: 22 + - subtask: Use the right gripper to grab the plush banana on the right side of the + table + subtask_index: 23 + - subtask: Pass the plush banana to the left gripper + subtask_index: 24 + - subtask: Pass the shower sphere to the left gripper + subtask_index: 25 + - subtask: Pass the to the yogurt left gripper + subtask_index: 26 + - subtask: The left gripper places blue blackboard erasure on the left side of the + table + subtask_index: 27 + - subtask: The left gripper places plush banana on the left side of the table + subtask_index: 28 + - subtask: Use the right gripper to grab the square chewing gum on the right side + of the table + subtask_index: 29 + - subtask: The left gripper places square chewing gum on the left side of the table + subtask_index: 30 + - subtask: The left gripper places eyeglass case on the left side of the table + subtask_index: 31 + - subtask: Pass the xx to the left gripper + subtask_index: 32 + - subtask: Pass the eyeglass case to the left gripper + subtask_index: 33 + - subtask: Use the right gripper to grab the yogurt on the right side of the table + subtask_index: 34 + - subtask: Use the right gripper to grab the eyeglass case on the right side of + the table + subtask_index: 35 + - subtask: Pass the yogurt to the left gripper + subtask_index: 36 + - subtask: Use the right gripper to grab the Rubik's Cube on the right side of the + table + subtask_index: 37 + - subtask: Pass the anmuxi to the left gripper + subtask_index: 38 + - subtask: Pass the grape to the left gripper + subtask_index: 39 + - subtask: 'null' + subtask_index: 40 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 58861 + dataset_size: 1.43 GB + data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_red_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml index 493006cfba9d3a057969595012b0e1dcce7bce24..160e6dcc03e9b3176790dcbb8c05f841fcbd14c5 100644 --- a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml @@ -1,18 +1,18 @@ -task_categories: +task_categories: &id001 - robotics -language: +language: &id002 - en -tags: +tags: &id003 - RoboCOIN - LeRobot license: apache-2.0 -configs: +configs: &id004 - config_name: default data_files: data/chunk-{id}/episode_{id}.parquet extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects. -extra_gated_fields: +extra_gated_fields: &id005 Company/Organization: type: text description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" @@ -30,7 +30,7 @@ scene_type: level5: null env_type: Due to some reasons, this dataset temporarily cannot provide the environment type information. -objects: +objects: &id006 - object_name: table level1: home_storage level2: table @@ -141,170 +141,68 @@ objects: level5: null task_operation_type: Due to some reasons, this dataset temporarily cannot provide the operation type information. -task_instruction: -- use the right gripper to pick up the item and transfer it from the right gripper - to the left gripper. +task_result: 'null' +task_instruction: use the right gripper to pick up the item and transfer it from the + right gripper to the left gripper. sub_tasks: -- subtask: The left gripper places milk on the left side of the table - subtask_index: 0 -- subtask: ' - - Pass the square chewing gun to the left gripper - - ' - subtask_index: 1 -- subtask: The left gripper places Rubik's Cube on the left side of the table - subtask_index: 2 -- subtask: ' - - Pass the yogurt to the left gripper - - ' - subtask_index: 3 -- subtask: The left gripper places grey towel on the left side of the table - subtask_index: 4 -- subtask: End - subtask_index: 5 -- subtask: Use the right gripper to grab the banana on the right side of the table - subtask_index: 6 -- subtask: The left gripper places bananal on the left side of the table - subtask_index: 7 -- subtask: ' - - Pass the shower spherer to the left gripper - - ' - subtask_index: 8 -- subtask: The left gripper places yogurt on the left side of the table - subtask_index: 9 -- subtask: ' - - Pass the eggplant to the left gripper - - ' - subtask_index: 10 -- subtask: ' - - Pass the eyeglass case to the left gripper - - ' - subtask_index: 11 -- subtask: Use the right gripper to grab the banana on the right side of the table - subtask_index: 12 -- subtask: The left gripper places eggplant on the left side of the table - subtask_index: 13 -- subtask: ' - - Pass the eggplant to the left gripper - - ' - subtask_index: 14 -- subtask: Use the right gripper to grab the milk on the right side of the table - subtask_index: 15 -- subtask: The left gripper places banana on the left side of the table - subtask_index: 16 -- subtask: ' - - Pass the Rubik''s Cube to the left gripper - - ' - subtask_index: 17 -- subtask: Use the right gripper to grab the eggplant on the right side of the table - subtask_index: 18 -- subtask: Use the right gripper to grab the square chewing gun on the right side - of the table - subtask_index: 19 -- subtask: Use the right gripper to grab the banana the on right side of the table - subtask_index: 20 -- subtask: Use the right gripper to grab the shower sphere on the right side of the - table - subtask_index: 21 -- subtask: Use the right gripper to grab the bananal on the right side of the table - subtask_index: 22 -- subtask: The left gripper places shower sphere on the left side of the table - subtask_index: 23 -- subtask: ' - - Pass the grey towel to the left gripper - - ' - subtask_index: 24 -- subtask: Use the right gripper to grab the blue blackboard erasure on the right - side of the table - subtask_index: 25 -- subtask: ' - - Pass the banana to the left gripper - - ' - subtask_index: 26 -- subtask: Use the right gripper to grab the purple garbage bag on the right side - of the table - subtask_index: 27 -- subtask: ' - - Pass the purple garbage bag to the left gripper - - ' - subtask_index: 28 -- subtask: The left gripper places blue blackboard erasure on the left side of the - table - subtask_index: 29 -- subtask: Use the right gripper to grab the eggplant on the right side of the table - subtask_index: 30 -- subtask: Use the right gripper to grab the square chewing gum on the right side - of the table - subtask_index: 31 -- subtask: The left gripper places square chewing gun on the left side of the table - subtask_index: 32 -- subtask: ' - - Pass the shower sphere to the left gripper - - ' - subtask_index: 33 -- subtask: The left gripper places eyeglass case on the left side of the table - subtask_index: 34 -- subtask: Use the right gripper to grab the yogurt on the right side of the table - subtask_index: 35 -- subtask: ' - - Pass the blue blackboard erasure to the left gripper - - ' - subtask_index: 36 -- subtask: Use the right gripper to grab the eyeglass case on the right side of the - table - subtask_index: 37 -- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the - table - subtask_index: 38 -- subtask: ' - - Pass the milk to the left gripper - - ' - subtask_index: 39 -- subtask: The left gripper places purple garbage bag on the left side of the table - subtask_index: 40 -- subtask: 'null' - subtask_index: 41 +- The left gripper places milk on the left side of the table +- Pass the square chewing gun to the left gripper +- The left gripper places Rubik's Cube on the left side of the table +- Pass the yogurt to the left gripper +- The left gripper places grey towel on the left side of the table +- End +- Use the right gripper to grab the banana on the right side of the table +- The left gripper places bananal on the left side of the table +- Pass the shower spherer to the left gripper +- The left gripper places yogurt on the left side of the table +- Pass the eggplant to the left gripper +- Pass the eyeglass case to the left gripper +- Use the right gripper to grab the banana on the right side of the table +- The left gripper places eggplant on the left side of the table +- Pass the eggplant to the left gripper +- Use the right gripper to grab the milk on the right side of the table +- The left gripper places banana on the left side of the table +- Pass the Rubik's Cube to the left gripper +- Use the right gripper to grab the eggplant on the right side of the table +- Use the right gripper to grab the square chewing gun on the right side of the table +- Use the right gripper to grab the banana the on right side of the table +- Use the right gripper to grab the shower sphere on the right side of the table +- Use the right gripper to grab the bananal on the right side of the table +- The left gripper places shower sphere on the left side of the table +- Pass the grey towel to the left gripper +- Use the right gripper to grab the blue blackboard erasure on the right side of the + table +- Pass the banana to the left gripper +- Use the right gripper to grab the purple garbage bag on the right side of the table +- Pass the purple garbage bag to the left gripper +- The left gripper places blue blackboard erasure on the left side of the table +- Use the right gripper to grab the eggplant on the right side of the table +- Use the right gripper to grab the square chewing gum on the right side of the table +- The left gripper places square chewing gun on the left side of the table +- Pass the shower sphere to the left gripper +- The left gripper places eyeglass case on the left side of the table +- Use the right gripper to grab the yogurt on the right side of the table +- Pass the blue blackboard erasure to the left gripper +- Use the right gripper to grab the eyeglass case on the right side of the table +- Use the right gripper to grab the Rubik's Cube on the right side of the table +- Pass the milk to the left gripper +- The left gripper places purple garbage bag on the left side of the table +- 'null' atomic_actions: - grasp - lift - lower - handover - takeover -robot_name: -- agilex_cobot_magic +robot_name: agilex_cobot_magic end_effector_type: two_finger_gripper tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation type information. -sensor_list: +sensor_list: &id007 - cam_head_rgb - cam_left_wrist_rgb - cam_right_wrist_rgb -came_info: +came_info: &id008 cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p @@ -312,10 +210,13 @@ came_info: pix_fmt=yuv420p depth_enabled: false coordinate_definition: right-hand-frame +origin_xyz: origin_xyz joint_rotation_dim: radian end_rotation_dim: radian end_translation_dim: meter -annotations: +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id009 - eef_acc_mag_annotation.jsonl - eef_direction_annotation.jsonl - eef_velocity_annotation.jsonl @@ -323,7 +224,8 @@ annotations: - gripper_mode_annotation.jsonl - scene_annotations.jsonl - subtask_annotations.jsonl -statistics: +operation_platform_height: null +statistics: &id010 total_episodes: 99 total_frames: 52998 fps: 30 @@ -408,9 +310,11 @@ data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth_q |-- info.yaml `-- README.md' -splits: +splits: &id011 train: 0:98 -features: +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +features: &id012 observation.images.cam_head_rgb: dtype: video shape: @@ -683,7 +587,7 @@ features: dtype: float32 shape: - 2 -authors: +authors: &id013 contributed_by: - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) dataset_description: This dataset uses an extended format based on LeRobot and is @@ -691,6 +595,7 @@ dataset_description: This dataset uses an extended format based on LeRobot and i homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN +contact_detail: robocoin@baai.ac.cn contact_info: For questions, issues, or feedback regarding this dataset, please contact us. support_info: For technical support, please open an issue on our GitHub repository. @@ -717,6 +622,325 @@ additional_citations: 'If you use this dataset, please also consider citing: ' version_info: Initial Release -data_path: data/chunk-{id}/episode_{id}.parquet -video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +raw: + task_categories: *id001 + language: *id002 + tags: *id003 + license: apache-2.0 + configs: *id004 + extra_gated_prompt: By accessing this dataset, you agree to cite the associated + paper in your research/publications—see the "Citation" section for details. You + agree to not use the dataset to conduct experiments that cause harm to human subjects. + extra_gated_fields: *id005 + codebase_version: v2.1 + dataset_name: agilex_cobot_magic_pass_object_right_to_left_white_tablecloth + dataset_uuid: 00000000-0000-0000-0000-000000000000 + scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null + env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. + objects: *id006 + task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. + task_instruction: + - use the right gripper to pick up the item and transfer it from the right gripper + to the left gripper. + sub_tasks: + - subtask: The left gripper places milk on the left side of the table + subtask_index: 0 + - subtask: ' + + Pass the square chewing gun to the left gripper + + ' + subtask_index: 1 + - subtask: The left gripper places Rubik's Cube on the left side of the table + subtask_index: 2 + - subtask: ' + + Pass the yogurt to the left gripper + + ' + subtask_index: 3 + - subtask: The left gripper places grey towel on the left side of the table + subtask_index: 4 + - subtask: End + subtask_index: 5 + - subtask: Use the right gripper to grab the banana on the right side of the table + subtask_index: 6 + - subtask: The left gripper places bananal on the left side of the table + subtask_index: 7 + - subtask: ' + + Pass the shower spherer to the left gripper + + ' + subtask_index: 8 + - subtask: The left gripper places yogurt on the left side of the table + subtask_index: 9 + - subtask: ' + + Pass the eggplant to the left gripper + + ' + subtask_index: 10 + - subtask: ' + + Pass the eyeglass case to the left gripper + + ' + subtask_index: 11 + - subtask: Use the right gripper to grab the banana on the right side of the table + subtask_index: 12 + - subtask: The left gripper places eggplant on the left side of the table + subtask_index: 13 + - subtask: ' + + Pass the eggplant to the left gripper + + ' + subtask_index: 14 + - subtask: Use the right gripper to grab the milk on the right side of the table + subtask_index: 15 + - subtask: The left gripper places banana on the left side of the table + subtask_index: 16 + - subtask: ' + + Pass the Rubik''s Cube to the left gripper + + ' + subtask_index: 17 + - subtask: Use the right gripper to grab the eggplant on the right side of the table + subtask_index: 18 + - subtask: Use the right gripper to grab the square chewing gun on the right side + of the table + subtask_index: 19 + - subtask: Use the right gripper to grab the banana the on right side of the table + subtask_index: 20 + - subtask: Use the right gripper to grab the shower sphere on the right side of + the table + subtask_index: 21 + - subtask: Use the right gripper to grab the bananal on the right side of the table + subtask_index: 22 + - subtask: The left gripper places shower sphere on the left side of the table + subtask_index: 23 + - subtask: ' + + Pass the grey towel to the left gripper + + ' + subtask_index: 24 + - subtask: Use the right gripper to grab the blue blackboard erasure on the right + side of the table + subtask_index: 25 + - subtask: ' + + Pass the banana to the left gripper + + ' + subtask_index: 26 + - subtask: Use the right gripper to grab the purple garbage bag on the right side + of the table + subtask_index: 27 + - subtask: ' + + Pass the purple garbage bag to the left gripper + + ' + subtask_index: 28 + - subtask: The left gripper places blue blackboard erasure on the left side of the + table + subtask_index: 29 + - subtask: Use the right gripper to grab the eggplant on the right side of the + table + subtask_index: 30 + - subtask: Use the right gripper to grab the square chewing gum on the right side + of the table + subtask_index: 31 + - subtask: The left gripper places square chewing gun on the left side of the table + subtask_index: 32 + - subtask: ' + + Pass the shower sphere to the left gripper + + ' + subtask_index: 33 + - subtask: The left gripper places eyeglass case on the left side of the table + subtask_index: 34 + - subtask: Use the right gripper to grab the yogurt on the right side of the table + subtask_index: 35 + - subtask: ' + + Pass the blue blackboard erasure to the left gripper + + ' + subtask_index: 36 + - subtask: Use the right gripper to grab the eyeglass case on the right side of + the table + subtask_index: 37 + - subtask: Use the right gripper to grab the Rubik's Cube on the right side of the + table + subtask_index: 38 + - subtask: ' + + Pass the milk to the left gripper + + ' + subtask_index: 39 + - subtask: The left gripper places purple garbage bag on the left side of the table + subtask_index: 40 + - subtask: 'null' + subtask_index: 41 + atomic_actions: + - grasp + - lift + - lower + - handover + - takeover + robot_name: + - agilex_cobot_magic + end_effector_type: two_finger_gripper + tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. + sensor_list: *id007 + came_info: *id008 + depth_enabled: false + coordinate_definition: right-hand-frame + joint_rotation_dim: radian + end_rotation_dim: radian + end_translation_dim: meter + annotations: *id009 + statistics: *id010 + frame_num: 52998 + dataset_size: 508.79 MB + data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (87 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' + splits: *id011 + features: *id012 + authors: *id013 + dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + contact_info: For questions, issues, or feedback regarding this dataset, please + contact us. + support_info: For technical support, please open an issue on our GitHub repository. + license_details: apache-2.0 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025},\n }\n" + additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' + version_info: Initial Release + data_path: data/chunk-{id}/episode_{id}.parquet + video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} + video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml index 080ee2ad4a1cd98d81b88e3c0b3f397c3738e100..85f4bece5d7ab0ef13a93035099daf6c017f5831 100644 --- a/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml +++ b/dataset_info/alpha_bot_2_carry_the_clothes_basket.yaml @@ -1,38 +1,45 @@ -path: alpha_bot_2_carry_the_clothes_basket +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: carry_the_clothes_basket -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Move the basket above the other table -objects: +dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: clothes_basket level1: container level2: clothes_basket level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-46527 -dataset_size: 2.5GB -statistics: - total_episodes: 50 - total_frames: 46527 - total_tasks: 1 - total_videos: 200 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move the basket above the other table sub_tasks: - Move the basket above the other table - Grasp the basket with both grippers @@ -43,7 +50,30 @@ sub_tasks: - Place the basket on the table with both grippers - Place the basket on the table with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 50 + total_frames: 46527 + total_tasks: 1 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 46527 +dataset_size: 2.5GB +data_structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +128,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,46 +155,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_carry_the_clothes_basket + dataset_name: carry_the_clothes_basket + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Move the basket above the other table + objects: *id001 + operation_platform_height: null + frame_range: 0-46527 + dataset_size: 2.5GB + statistics: *id002 + dataset_uuid: 0df48917-c10a-469f-8f74-d57f284c09cd + language: *id003 + task_categories: *id004 + sub_tasks: + - Move the basket above the other table + - Grasp the basket with both grippers + - Grasp the basket with left gripper + - Grasp the basket with right gripper + - End + - Place the basket on the table with right gripper + - Place the basket on the table with both grippers + - Place the basket on the table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_item_reversal.yaml b/dataset_info/alpha_bot_2_item_reversal.yaml index 53b640fd0a0ebfcf612f1fcd40326a71a66fb5ca..ac563b8f592a6e40f5deacdaebb4a4d4571af668 100644 --- a/dataset_info/alpha_bot_2_item_reversal.yaml +++ b/dataset_info/alpha_bot_2_item_reversal.yaml @@ -1,15 +1,35 @@ -path: alpha_bot_2_item_reversal +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: item_reversal -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the cup with left gripper -objects: +dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-82235 -dataset_size: 2.1GB -statistics: - total_episodes: 90 - total_frames: 82235 - total_tasks: 1 - total_videos: 360 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the cup with left gripper sub_tasks: - Grasp the cup with left gripper - Place the cup on the table with right gripper - Pass the cup to the right gripper - End - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 90 + total_frames: 82235 + total_tasks: 1 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 82235 +dataset_size: 2.1GB +data_structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,45 +157,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_item_reversal + dataset_name: item_reversal + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the cup with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-82235 + dataset_size: 2.1GB + statistics: *id002 + dataset_uuid: aac569d8-dbc7-4128-a573-659adbe0ed51 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the cup with left gripper + - Place the cup on the table with right gripper + - Pass the cup to the right gripper + - End + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_move_the_table.yaml b/dataset_info/alpha_bot_2_move_the_table.yaml index e55206946a3e6e63c1797a87580c2789dd325956..6548c7725b97e28c3f6a05911b3bd06690a62218 100644 --- a/dataset_info/alpha_bot_2_move_the_table.yaml +++ b/dataset_info/alpha_bot_2_move_the_table.yaml @@ -1,44 +1,74 @@ -path: alpha_bot_2_move_the_table +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: move_the_table -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-50897 -dataset_size: 1.4GB -statistics: - total_episodes: 72 - total_frames: 50897 - total_tasks: 1 - total_videos: 288 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Move the table forward with both grippers - Grasp the table with both grippers - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -46,7 +76,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 72 + total_frames: 50897 + total_tasks: 1 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 50897 +dataset_size: 1.4GB +data_structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -55,13 +123,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -79,45 +150,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_move_the_table + dataset_name: move_the_table + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-50897 + dataset_size: 1.4GB + statistics: *id002 + dataset_uuid: 09e62222-abf5-4a90-a95b-91d15d99af82 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Move the table forward with both grippers + - Grasp the table with both grippers + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml index 7a8fe76ec9a0406d7b4606588cd1a31a4ee5b1d1..736a5d1d6dcd5cab6347428e2f1a5300b4702aaf 100644 --- a/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml +++ b/dataset_info/alpha_bot_2_operate_the_microwave_oven.yaml @@ -1,15 +1,35 @@ -path: alpha_bot_2_operate_the_microwave_oven +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: operate_the_microwave_oven -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- pullapart -- pushtogether -- turn -tasks: Press the time button with right gripper -objects: +dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-16486 -dataset_size: 395.7MB -statistics: - total_episodes: 16 - total_frames: 16486 - total_tasks: 1 - total_videos: 64 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Press the time button with right gripper sub_tasks: - Press the time button with right gripper - Press the start button with right gripper @@ -46,7 +53,30 @@ sub_tasks: - Press the switch with right gripper - Close the microwave door with left gripper - 'null' -annotations: +atomic_actions: +- pullapart +- pushtogether +- turn +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -54,7 +84,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 16 + total_frames: 16486 + total_tasks: 1 + total_videos: 64 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 16486 +dataset_size: 395.7MB +data_structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -63,13 +131,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -87,46 +158,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_operate_the_microwave_oven + dataset_name: operate_the_microwave_oven + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - pullapart + - pushtogether + - turn + tasks: Press the time button with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-16486 + dataset_size: 395.7MB + statistics: *id002 + dataset_uuid: 6223c1d1-5efd-480c-8aa8-e1d4f14069f2 + language: *id003 + task_categories: *id004 + sub_tasks: + - Press the time button with right gripper + - Press the start button with right gripper + - End + - Press the switch with right gripper + - Close the microwave door with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_operate_the_microwave_oven_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_pass_the_sandbag.yaml b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml index 5fd4152f0f0b601715ac025d582578fb54bc99a9..61b9a2e41c4c8b47080b39cd5814ce9c3672829d 100644 --- a/dataset_info/alpha_bot_2_pass_the_sandbag.yaml +++ b/dataset_info/alpha_bot_2_pass_the_sandbag.yaml @@ -1,15 +1,35 @@ -path: alpha_bot_2_pass_the_sandbag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_sandbag -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pass the paper ball to the right gripper -objects: +dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,30 +42,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-69956 -dataset_size: 2.0GB -statistics: - total_episodes: 86 - total_frames: 69956 - total_tasks: 1 - total_videos: 344 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pass the paper ball to the right gripper sub_tasks: - Pass the paper ball to the right gripper - End - Place the paper ball on the table with right gripper - Grasp the paper ball with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -53,7 +83,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 86 + total_frames: 69956 + total_tasks: 1 + total_videos: 344 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 69956 +dataset_size: 2.0GB +data_structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -62,13 +130,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -86,46 +157,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_pass_the_sandbag + dataset_name: pass_the_sandbag + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pass the paper ball to the right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-69956 + dataset_size: 2.0GB + statistics: *id002 + dataset_uuid: 81e68aa6-8f11-4edf-9c00-cc322e4fc0c9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pass the paper ball to the right gripper + - End + - Place the paper ball on the table with right gripper + - Grasp the paper ball with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_press_the_button_a.yaml b/dataset_info/alpha_bot_2_press_the_button_a.yaml index dbbb29d183b363e89e57bef2b6683b004c53034f..854d86f97efa31db93b81e0a9c6da43957ad0d3b 100644 --- a/dataset_info/alpha_bot_2_press_the_button_a.yaml +++ b/dataset_info/alpha_bot_2_press_the_button_a.yaml @@ -1,13 +1,35 @@ -path: alpha_bot_2_press_the_button_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: press_the_button_a -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- pressbutton -tasks: End -objects: +dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -26,28 +48,36 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-91452 -dataset_size: 1.9GB -statistics: - total_episodes: 116 - total_frames: 91452 - total_tasks: 1 - total_videos: 464 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Press the button blocked by the bottle with right gripper - 'null' -annotations: +atomic_actions: +- pressbutton +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -55,7 +85,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 116 + total_frames: 91452 + total_tasks: 1 + total_videos: 464 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 91452 +dataset_size: 1.9GB +data_structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -64,13 +132,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -88,46 +159,116 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_press_the_button_a + dataset_name: press_the_button_a + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - pressbutton + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-91452 + dataset_size: 1.9GB + statistics: *id002 + dataset_uuid: f687e0d9-d736-45a4-89f6-ef7ff90a103a + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Press the button blocked by the bottle with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_press_the_button_b.yaml b/dataset_info/alpha_bot_2_press_the_button_b.yaml index 5bdd40c96b20942024aa2071f2bea96ff26015f5..f5e86badbbf82f9b08e647c995fa358a9988a88e 100644 --- a/dataset_info/alpha_bot_2_press_the_button_b.yaml +++ b/dataset_info/alpha_bot_2_press_the_button_b.yaml @@ -1,14 +1,35 @@ -path: alpha_bot_2_press_the_button_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: press_the_button_b -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- pressbutton -- push -tasks: Touch the bottle with left gripper -objects: +dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: mineral_water level1: drinks level2: mineral_water @@ -27,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-50921 -dataset_size: 943.7MB -statistics: - total_episodes: 65 - total_frames: 50921 - total_tasks: 1 - total_videos: 260 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Touch the bottle with left gripper sub_tasks: - Touch the bottle with left gripper - End @@ -51,7 +59,29 @@ sub_tasks: - Abnormal - Press the button with right gripper - 'null' -annotations: +atomic_actions: +- pressbutton +- push +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 65 + total_frames: 50921 + total_tasks: 1 + total_videos: 260 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 50921 +dataset_size: 943.7MB +data_structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +136,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,46 +163,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_press_the_button_b + dataset_name: press_the_button_b + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - pressbutton + - push + tasks: Touch the bottle with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-50921 + dataset_size: 943.7MB + statistics: *id002 + dataset_uuid: 627d6f91-a0ba-46b7-96dd-616242c3a6af + language: *id003 + task_categories: *id004 + sub_tasks: + - Touch the bottle with left gripper + - End + - Move the bottle away with right gripper + - Abnormal + - Press the button with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml index 1d2e2f58cf40f060dfc84a4448362d128e5bcba2..00b430cdc5ab08f150d208aa00b24de81333e010 100644 --- a/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml +++ b/dataset_info/alpha_bot_2_recover_after_touching_an_obstacle.yaml @@ -1,14 +1,35 @@ -path: alpha_bot_2_recover_after_touching_an_obstacle +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: recover_after_touching_an_obstacle -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -tasks: Touch the bottle with left gripper -objects: +dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -27,29 +48,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-128391 -dataset_size: 3.7GB -statistics: - total_episodes: 130 - total_frames: 128391 - total_tasks: 1 - total_videos: 520 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Touch the bottle with left gripper sub_tasks: - Touch the bottle with left gripper - End - Touch the bottle with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -57,7 +87,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 130 + total_frames: 128391 + total_tasks: 1 + total_videos: 520 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 128391 +dataset_size: 3.7GB +data_structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -66,13 +134,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -90,46 +161,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_recover_after_touching_an_obstacle + dataset_name: recover_after_touching_an_obstacle + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + tasks: Touch the bottle with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-128391 + dataset_size: 3.7GB + statistics: *id002 + dataset_uuid: aebc9a40-0a90-4fc3-a705-fbc5c7d23392 + language: *id003 + task_categories: *id004 + sub_tasks: + - Touch the bottle with left gripper + - End + - Touch the bottle with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├──\ + \ annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/alpha_bot_2_stack_building_blocks.yaml b/dataset_info/alpha_bot_2_stack_building_blocks.yaml index b3ec7e0474feb34cd08671046a10f78ddc717260..3b9fa80467316072389e92cd431cdb9614f90944 100644 --- a/dataset_info/alpha_bot_2_stack_building_blocks.yaml +++ b/dataset_info/alpha_bot_2_stack_building_blocks.yaml @@ -1,15 +1,35 @@ -path: alpha_bot_2_stack_building_blocks +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: stack_building_blocks -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the blue building block with left gripper -objects: +dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,23 +42,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-130049 -dataset_size: 3.4GB -statistics: - total_episodes: 139 - total_frames: 130049 - total_tasks: 1 - total_videos: 556 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the blue building block with left gripper sub_tasks: - Grasp the blue building block with left gripper - End @@ -57,7 +64,30 @@ sub_tasks: - Place the pink block on the blue block with right gripper - Place the blue building block in the center of table with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,45 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 139 + total_frames: 130049 + total_tasks: 1 + total_videos: 556 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 130049 +dataset_size: 3.4GB +data_structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ + \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ + \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ + \ (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,46 +169,132 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n\ - │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" -structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n \ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n\ - \ ├── episode_000001.mp4\n ├── episode_000002.mp4\n \ - \ ├── episode_000003.mp4\n ├── episode_000004.mp4\n └──\ - \ (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_stack_building_blocks + dataset_name: stack_building_blocks + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the blue building block with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-130049 + dataset_size: 3.4GB + statistics: *id002 + dataset_uuid: f7781909-81c7-40ee-98a5-67783a48dc66 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the blue building block with left gripper + - End + - Place the pink building block in the center of table with left gripper + - Grasp the pink building block with left gripper + - Place the blue building block on the pink building blocks with left gripper + - Grasp the green building block with left gripper + - Place the pink building block on the blue building blocks with right gripper + - Place the green block on the pink block with left gripper + - Place the blue building block on the blue building blocks with right gripper + - Place the blue building block on the pink building blocks with right gripper + - Grasp the blue building block with right gripper + - Place the pink building block on the blue building blocks with left gripper + - Place the blue building block on the blue building blocks with left gripper + - Grasp the pink building block with right gripper + - Place the pink block on the blue block with right gripper + - Place the blue building block in the center of table with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │\ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n ├── observation.images.cam_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/alpha_bot_2_sticker.yaml b/dataset_info/alpha_bot_2_sticker.yaml index 984f6ae65a7acb8e89dee2df4036c0b9fef9decc..a4ad5fdc909a875a8d2a4212e36a65e8c0ee58c2 100644 --- a/dataset_info/alpha_bot_2_sticker.yaml +++ b/dataset_info/alpha_bot_2_sticker.yaml @@ -1,15 +1,35 @@ -path: alpha_bot_2_sticker +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: sticker -robot_type: '' -end_effector_type: -- two_finger_gripper -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-97993 -dataset_size: 1.9GB -statistics: - total_episodes: 93 - total_frames: 97993 - total_tasks: 1 - total_videos: 372 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Stick the advertisement in the top-right corner area with both grippers - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: alpha_bot_2 +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,44 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 93 + total_frames: 97993 + total_tasks: 1 + total_videos: 372 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 97993 +dataset_size: 1.9GB +data_structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ + ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ + │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ + \ episode_000004.mp4\n └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +127,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,44 +154,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" -structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: alpha_bot_2_sticker + dataset_name: sticker + robot_type: '' + end_effector_type: + - two_finger_gripper + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-97993 + dataset_size: 1.9GB + statistics: *id002 + dataset_uuid: 81aee7b0-84c3-4b85-9778-c5c9df188afd + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Stick the advertisement in the top-right corner area with both grippers + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ + │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ + │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ + │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ + │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ + \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └──\ + \ (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ \ + \ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │\ + \ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ \ + \ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├──\ + \ episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n\ + \ │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_box_storage_parcel.yaml b/dataset_info/leju_robot_box_storage_parcel.yaml index 4af0715fc9fb916138fd06802c19bce5f1851e46..ea06a44a0287486fc418a4e1d0d080ff06cdb74d 100644 --- a/dataset_info/leju_robot_box_storage_parcel.yaml +++ b/dataset_info/leju_robot_box_storage_parcel.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the package on the scanner with left gripper -objects: +dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-537851 -dataset_size: 27.2GB -statistics: - total_episodes: 443 - total_frames: 537851 - total_tasks: 1 - total_videos: 1329 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the package on the scanner with left gripper sub_tasks: - Grasp the package on the scanner with left gripper - Abnormal @@ -65,7 +72,30 @@ sub_tasks: - Place the package on the scanner with right gripper - Pick up the parcel from the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -73,7 +103,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 443 + total_frames: 537851 + total_tasks: 1 + total_videos: 1329 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 537851 +dataset_size: 27.2GB +data_structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -82,13 +147,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -106,40 +174,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel + dataset_name: box_storage_parcel + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the package on the scanner with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-537851 + dataset_size: 27.2GB + statistics: *id002 + dataset_uuid: b6a8ebae-9a8f-44c4-a7a1-7893c558480b + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the package on the scanner with left gripper + - Abnormal + - Put the parcel inside the courier box. + - Place the parcel onto the inbound machine. + - Place the parcel into the delivery box. + - Grasp the package on the conveyor belt with right gripper + - Place the package in the green box with left gripper + - End + - Pick up the parcel from the conveyor belt. + - Take the parcel off the conveyor belt. + - Place the package on the scanner with right gripper + - Pick up the parcel from the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_a.yaml b/dataset_info/leju_robot_box_storage_parcel_a.yaml index 1c0ad751b28cb214a32f32b2549fe0761ad21b59..6bf2db7f4f95fb144559946c2de990559494b5ec 100644 --- a/dataset_info/leju_robot_box_storage_parcel_a.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_a.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package into the parcel locker. -objects: +dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-189545 -dataset_size: 9.7GB -statistics: - total_episodes: 493 - total_frames: 189545 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package into the parcel locker. sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - Place the package onto the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 493 + total_frames: 189545 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 189545 +dataset_size: 9.7GB +data_structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_a + dataset_name: box_storage_parcel_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package into the parcel locker. + objects: *id001 + operation_platform_height: null + frame_range: 0-189545 + dataset_size: 9.7GB + statistics: *id002 + dataset_uuid: 58a31ae7-afbc-4d56-953d-6df89f8c1ba5 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - Place the package onto the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_b.yaml b/dataset_info/leju_robot_box_storage_parcel_b.yaml index 18d8e439384c411d89a9281221c2b812f67acfbe..9dd208f4526fce8c8bf23125cd1cc20ec86103c5 100644 --- a/dataset_info/leju_robot_box_storage_parcel_b.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_b.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_b -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package into the parcel locker. -objects: +dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-186311 -dataset_size: 9.5GB -statistics: - total_episodes: 497 - total_frames: 186311 - total_tasks: 1 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package into the parcel locker. sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - Place the package onto the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 497 + total_frames: 186311 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 186311 +dataset_size: 9.5GB +data_structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_b + dataset_name: box_storage_parcel_b + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package into the parcel locker. + objects: *id001 + operation_platform_height: null + frame_range: 0-186311 + dataset_size: 9.5GB + statistics: *id002 + dataset_uuid: 5e55ad50-424b-4a78-9d00-e0d7a45f48f7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - Place the package onto the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_c.yaml b/dataset_info/leju_robot_box_storage_parcel_c.yaml index 12c7a31869286f09ac00f1e6abb5e79b711a3b2d..ad0b3b5ae9af16184753287335b46540c5031053 100644 --- a/dataset_info/leju_robot_box_storage_parcel_c.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_c.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_c -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package onto the inbound machine. -objects: +dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-187995 -dataset_size: 9.6GB -statistics: - total_episodes: 493 - total_frames: 187995 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package onto the inbound machine. sub_tasks: - Place the package onto the inbound machine. - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 493 + total_frames: 187995 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 187995 +dataset_size: 9.6GB +data_structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_c + dataset_name: box_storage_parcel_c + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package onto the inbound machine. + objects: *id001 + operation_platform_height: null + frame_range: 0-187995 + dataset_size: 9.6GB + statistics: *id002 + dataset_uuid: 3c05a32c-9807-467b-b1a5-2f7f3fe27928 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package onto the inbound machine. + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_c_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_d.yaml b/dataset_info/leju_robot_box_storage_parcel_d.yaml index 8bca70ea3b1bf89186e422abcad49c291d5203bc..e74b6f1bbe42e50cf3ee8d39d92dd3957075ee9c 100644 --- a/dataset_info/leju_robot_box_storage_parcel_d.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_d.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_d -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pass the laundry detergent to the left gripper -objects: +dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-288956 -dataset_size: 18.0GB -statistics: - total_episodes: 212 - total_frames: 288956 - total_tasks: 1 - total_videos: 636 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pass the laundry detergent to the left gripper sub_tasks: - Pass the laundry detergent to the left gripper - Pick up the fast-moving consumer goods bottle from the table. @@ -60,7 +67,30 @@ sub_tasks: - Place the laundry detergent on the yellow rubber mat with left gripper - Flip the fast-moving consumer goods bottle to the front side. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 212 + total_frames: 288956 + total_tasks: 1 + total_videos: 636 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 288956 +dataset_size: 18.0GB +data_structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,40 +169,117 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_d + dataset_name: box_storage_parcel_d + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pass the laundry detergent to the left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-288956 + dataset_size: 18.0GB + statistics: *id002 + dataset_uuid: a24f0c02-18b7-4770-8ed1-41d5db2ba6d8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pass the laundry detergent to the left gripper + - Pick up the fast-moving consumer goods bottle from the table. + - Take the fast-moving consumer goods bottle from the table. + - Abnormal + - Grasp the laundry detergent with right gripper + - Place the laundry detergent on the yellow rubber mat with left gripper + - Flip the fast-moving consumer goods bottle to the front side. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_f.yaml b/dataset_info/leju_robot_box_storage_parcel_f.yaml index 346d58af07cc206f6496df96a5319e437a911c87..7485b5834f22b4ccf94442cf5d58872af2923d0a 100644 --- a/dataset_info/leju_robot_box_storage_parcel_f.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_f.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_f +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_f -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package into the parcel locker. -objects: +dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-185943 -dataset_size: 9.5GB -statistics: - total_episodes: 497 - total_frames: 185943 - total_tasks: 1 - total_videos: 1491 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package into the parcel locker. sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - Place the package onto the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 497 + total_frames: 185943 + total_tasks: 1 + total_videos: 1491 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 185943 +dataset_size: 9.5GB +data_structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_f + dataset_name: box_storage_parcel_f + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package into the parcel locker. + objects: *id001 + operation_platform_height: null + frame_range: 0-185943 + dataset_size: 9.5GB + statistics: *id002 + dataset_uuid: 52fd6211-f929-4608-b45d-501557f97fc8 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - Place the package onto the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_g.yaml b/dataset_info/leju_robot_box_storage_parcel_g.yaml index ae34fa00b2323f8353c28feb32ccd31eb82f3fbe..298f38d08eef58ec080c0743ac62e51876002f67 100644 --- a/dataset_info/leju_robot_box_storage_parcel_g.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_g.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_g +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_g -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package into the parcel locker. -objects: +dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-182793 -dataset_size: 9.4GB -statistics: - total_episodes: 492 - total_frames: 182793 - total_tasks: 1 - total_videos: 1476 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package into the parcel locker. sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - Place the package onto the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 492 + total_frames: 182793 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 182793 +dataset_size: 9.4GB +data_structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_g + dataset_name: box_storage_parcel_g + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package into the parcel locker. + objects: *id001 + operation_platform_height: null + frame_range: 0-182793 + dataset_size: 9.4GB + statistics: *id002 + dataset_uuid: 1b130f08-2c4e-4724-ad03-8ecda43684fd + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - Place the package onto the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_h.yaml b/dataset_info/leju_robot_box_storage_parcel_h.yaml index 0698fbfadb10df25921d60feda10f2e99962cef8..5e09a10d4e85f28655bd8397936f891e666a1bf9 100644 --- a/dataset_info/leju_robot_box_storage_parcel_h.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_h.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_h +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_h -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the package into the parcel locker. -objects: +dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,30 +54,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-149279 -dataset_size: 7.7GB -statistics: - total_episodes: 389 - total_frames: 149279 - total_tasks: 1 - total_videos: 1167 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the package into the parcel locker. sub_tasks: - Place the package into the parcel locker. - Pick up the package from the inbound machine. - Pick up the package from the conveyor belt. - Place the package onto the inbound machine. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 389 + total_frames: 149279 + total_tasks: 1 + total_videos: 1167 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 149279 +dataset_size: 7.7GB +data_structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,40 +166,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_h + dataset_name: box_storage_parcel_h + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the package into the parcel locker. + objects: *id001 + operation_platform_height: null + frame_range: 0-149279 + dataset_size: 7.7GB + statistics: *id002 + dataset_uuid: 6dd99999-811b-4ae1-aac2-7a5b81087eaa + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the package into the parcel locker. + - Pick up the package from the inbound machine. + - Pick up the package from the conveyor belt. + - Place the package onto the inbound machine. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_i.yaml b/dataset_info/leju_robot_box_storage_parcel_i.yaml index 1d5173fbb99e186d40a58cd08626db006c89a7c8..1d440a766b2dcd7119e72d55f74c4b7887a7e132 100644 --- a/dataset_info/leju_robot_box_storage_parcel_i.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_i.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_i +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_i -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the bottle from the table. -objects: +dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,29 +54,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-313461 -dataset_size: 19.3GB -statistics: - total_episodes: 222 - total_frames: 313461 - total_tasks: 1 - total_videos: 666 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the bottle from the table. sub_tasks: - Pick up the bottle from the table. - Flip the bottle to face forward. - Take the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 222 + total_frames: 313461 + total_tasks: 1 + total_videos: 666 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 313461 +dataset_size: 19.3GB +data_structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,40 +165,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_i + dataset_name: box_storage_parcel_i + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the bottle from the table. + objects: *id001 + operation_platform_height: null + frame_range: 0-313461 + dataset_size: 19.3GB + statistics: *id002 + dataset_uuid: 6e0f6aaf-d447-436f-bfc3-bedd5a1bce04 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the bottle from the table. + - Flip the bottle to face forward. + - Take the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_box_storage_parcel_j.yaml b/dataset_info/leju_robot_box_storage_parcel_j.yaml index 64ac7555117f567641958698b296a77f896af7f6..5fe200a467af044097ed8a7d5ed5e92b96cb1676 100644 --- a/dataset_info/leju_robot_box_storage_parcel_j.yaml +++ b/dataset_info/leju_robot_box_storage_parcel_j.yaml @@ -1,15 +1,35 @@ -path: leju_robot_box_storage_parcel_j +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: box_storage_parcel_j -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Take the fast-moving consumer goods bottle from the table. -objects: +dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,29 +54,39 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-322063 -dataset_size: 20.0GB -statistics: - total_episodes: 226 - total_frames: 322063 - total_tasks: 1 - total_videos: 678 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Take the fast-moving consumer goods bottle from the table. sub_tasks: - Take the fast-moving consumer goods bottle from the table. - Pick up the fast-moving consumer goods bottle from the table. - Flip the fast-moving consumer goods bottle to the front side. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 226 + total_frames: 322063 + total_tasks: 1 + total_videos: 678 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 322063 +dataset_size: 20.0GB +data_structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,40 +165,113 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│\ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_box_storage_parcel_j + dataset_name: box_storage_parcel_j + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Take the fast-moving consumer goods bottle from the table. + objects: *id001 + operation_platform_height: null + frame_range: 0-322063 + dataset_size: 20.0GB + statistics: *id002 + dataset_uuid: a9028fc5-d827-45d1-a2a9-31593becbf59 + language: *id003 + task_categories: *id004 + sub_tasks: + - Take the fast-moving consumer goods bottle from the table. + - Pick up the fast-moving consumer goods bottle from the table. + - Flip the fast-moving consumer goods bottle to the front side. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_box_storage_parcel_j_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_a.yaml b/dataset_info/leju_robot_hotel_services_a.yaml index 877468a7e0e776b418cc94ebb4a250180868f6be..e92d2ee67047b605ffc05d3ca99dbc791aba0d58 100644 --- a/dataset_info/leju_robot_hotel_services_a.yaml +++ b/dataset_info/leju_robot_hotel_services_a.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-234607 -dataset_size: 15.7GB -statistics: - total_episodes: 340 - total_frames: 234607 - total_tasks: 1 - total_videos: 1020 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 340 + total_frames: 234607 + total_tasks: 1 + total_videos: 1020 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 234607 +dataset_size: 15.7GB +data_structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_a + dataset_name: hotel_services_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-234607 + dataset_size: 15.7GB + statistics: *id002 + dataset_uuid: 3e695119-00a0-4747-9da8-d491e6035ee1 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_aa.yaml b/dataset_info/leju_robot_hotel_services_aa.yaml index 460d1860620ee6f5b89988e5b430b468feee410e..574b336142b5b58aea3f60572956f81c9cca6867 100644 --- a/dataset_info/leju_robot_hotel_services_aa.yaml +++ b/dataset_info/leju_robot_hotel_services_aa.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_aa +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_aa -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-70570 -dataset_size: 4.5GB -statistics: - total_episodes: 419 - total_frames: 70570 - total_tasks: 1 - total_videos: 1257 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Take out the room card with right gripper @@ -58,7 +65,30 @@ sub_tasks: - Hand the room card to the target. - Pick up the room card from the card holder. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 419 + total_frames: 70570 + total_tasks: 1 + total_videos: 1257 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 70570 +dataset_size: 4.5GB +data_structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_aa + dataset_name: hotel_services_aa + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-70570 + dataset_size: 4.5GB + statistics: *id002 + dataset_uuid: dcd0025f-866e-4a2c-8898-6bf7dc424bc2 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Take out the room card with right gripper + - Hand the room card to the guest with right gripper + - Hand the room card to the target. + - Pick up the room card from the card holder. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ab.yaml b/dataset_info/leju_robot_hotel_services_ab.yaml index da8c075b9b72a569fdc13a5f9423fd9d44504001..7f9b2cec50e5193522629fcc3b736820ba80e4c6 100644 --- a/dataset_info/leju_robot_hotel_services_ab.yaml +++ b/dataset_info/leju_robot_hotel_services_ab.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ab +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ab -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-81123 -dataset_size: 5.2GB -statistics: - total_episodes: 450 - total_frames: 81123 - total_tasks: 1 - total_videos: 1350 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Take out the room card with right gripper @@ -58,7 +65,30 @@ sub_tasks: - Hand the room card to the target. - Pick up the room card from the card holder. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 450 + total_frames: 81123 + total_tasks: 1 + total_videos: 1350 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 81123 +dataset_size: 5.2GB +data_structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ab + dataset_name: hotel_services_ab + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-81123 + dataset_size: 5.2GB + statistics: *id002 + dataset_uuid: e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Take out the room card with right gripper + - Hand the room card to the guest with right gripper + - Hand the room card to the target. + - Pick up the room card from the card holder. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ac.yaml b/dataset_info/leju_robot_hotel_services_ac.yaml index 665e1e5ea1f0cf426791b1a209ebbb4e79ae29cb..4fab6d865dff4ebda2ed87aea35ec4a182a89919 100644 --- a/dataset_info/leju_robot_hotel_services_ac.yaml +++ b/dataset_info/leju_robot_hotel_services_ac.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ac +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ac -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the key card from the card box. -objects: +dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-73697 -dataset_size: 4.7GB -statistics: - total_episodes: 431 - total_frames: 73697 - total_tasks: 1 - total_videos: 1293 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the key card from the card box. sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 431 + total_frames: 73697 + total_tasks: 1 + total_videos: 1293 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 73697 +dataset_size: 4.7GB +data_structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ac + dataset_name: hotel_services_ac + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the key card from the card box. + objects: *id001 + operation_platform_height: null + frame_range: 0-73697 + dataset_size: 4.7GB + statistics: *id002 + dataset_uuid: ff64c171-6616-4c0a-9876-42719e539bbf + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the key card from the card box. + - Hand the key card to the target. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ad.yaml b/dataset_info/leju_robot_hotel_services_ad.yaml index 90a9f9eb0af6b1a4f19da0c56a15cc9bd998d10c..8a178a8aa56320f50a25c02d3840201449485881 100644 --- a/dataset_info/leju_robot_hotel_services_ad.yaml +++ b/dataset_info/leju_robot_hotel_services_ad.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ad +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ad -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-73346 -dataset_size: 4.7GB -statistics: - total_episodes: 430 - total_frames: 73346 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Take out the room card with right gripper @@ -58,7 +65,30 @@ sub_tasks: - Hand the room card to the target. - Pick up the room card from the card holder. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 430 + total_frames: 73346 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 73346 +dataset_size: 4.7GB +data_structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ad + dataset_name: hotel_services_ad + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-73346 + dataset_size: 4.7GB + statistics: *id002 + dataset_uuid: 1bbfd926-a183-40a4-8649-0b9958b0ffcf + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Take out the room card with right gripper + - Hand the room card to the guest with right gripper + - Hand the room card to the target. + - Pick up the room card from the card holder. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ae.yaml b/dataset_info/leju_robot_hotel_services_ae.yaml index 1ff367cc2f33a4f98df4f673f77c947e0142a2a7..6233fb3506433be02ba725cef3873741a7ceb2aa 100644 --- a/dataset_info/leju_robot_hotel_services_ae.yaml +++ b/dataset_info/leju_robot_hotel_services_ae.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ae +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ae -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the key card from the card box. -objects: +dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-78394 -dataset_size: 5.0GB -statistics: - total_episodes: 449 - total_frames: 78394 - total_tasks: 1 - total_videos: 1347 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the key card from the card box. sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 449 + total_frames: 78394 + total_tasks: 1 + total_videos: 1347 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 78394 +dataset_size: 5.0GB +data_structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ae + dataset_name: hotel_services_ae + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the key card from the card box. + objects: *id001 + operation_platform_height: null + frame_range: 0-78394 + dataset_size: 5.0GB + statistics: *id002 + dataset_uuid: 91537f29-b5ac-455f-bfdf-78d671e6f66d + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the key card from the card box. + - Hand the key card to the target. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_af.yaml b/dataset_info/leju_robot_hotel_services_af.yaml index 4339b6d0656b35e55d5bb66ce3a71462b31585e6..6cb425bab42c6ea26d6bdaf717993142a0f780d6 100644 --- a/dataset_info/leju_robot_hotel_services_af.yaml +++ b/dataset_info/leju_robot_hotel_services_af.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_af +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_af -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the key card from the card box. -objects: +dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-77713 -dataset_size: 4.9GB -statistics: - total_episodes: 437 - total_frames: 77713 - total_tasks: 1 - total_videos: 1311 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the key card from the card box. sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 437 + total_frames: 77713 + total_tasks: 1 + total_videos: 1311 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 77713 +dataset_size: 4.9GB +data_structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_af + dataset_name: hotel_services_af + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the key card from the card box. + objects: *id001 + operation_platform_height: null + frame_range: 0-77713 + dataset_size: 4.9GB + statistics: *id002 + dataset_uuid: 454ce503-1811-4c2a-9a2d-e6c284efa8e3 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the key card from the card box. + - Hand the key card to the target. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_af_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ag.yaml b/dataset_info/leju_robot_hotel_services_ag.yaml index 54e9fe487e7be030e80eb15e6029f8cae334d40b..d29cb46d34aa32ee45a6cbbbfae436af86418db0 100644 --- a/dataset_info/leju_robot_hotel_services_ag.yaml +++ b/dataset_info/leju_robot_hotel_services_ag.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ag +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ag -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the key card from the card box. -objects: +dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-72556 -dataset_size: 4.6GB -statistics: - total_episodes: 428 - total_frames: 72556 - total_tasks: 1 - total_videos: 1284 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the key card from the card box. sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 428 + total_frames: 72556 + total_tasks: 1 + total_videos: 1284 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 72556 +dataset_size: 4.6GB +data_structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ag + dataset_name: hotel_services_ag + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the key card from the card box. + objects: *id001 + operation_platform_height: null + frame_range: 0-72556 + dataset_size: 4.6GB + statistics: *id002 + dataset_uuid: fe6eebfa-58f5-4409-aad8-bc8aa39381cc + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the key card from the card box. + - Hand the key card to the target. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_ah.yaml b/dataset_info/leju_robot_hotel_services_ah.yaml index f025ade48f7d81b9109f2108492d8720fdc20e6f..7ff1dc59b6cc16a864c32df004efc98275f39502 100644 --- a/dataset_info/leju_robot_hotel_services_ah.yaml +++ b/dataset_info/leju_robot_hotel_services_ah.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_ah +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_ah -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the key card from the card box. -objects: +dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-8145 -dataset_size: 542.6MB -statistics: - total_episodes: 44 - total_frames: 8145 - total_tasks: 1 - total_videos: 132 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the key card from the card box. sub_tasks: - Pick up the key card from the card box. - Hand the key card to the target. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 44 + total_frames: 8145 + total_tasks: 1 + total_videos: 132 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 8145 +dataset_size: 542.6MB +data_structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_ah + dataset_name: hotel_services_ah + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the key card from the card box. + objects: *id001 + operation_platform_height: null + frame_range: 0-8145 + dataset_size: 542.6MB + statistics: *id002 + dataset_uuid: d6db4bde-0fc4-4f4c-b80a-f12034b9d043 + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the key card from the card box. + - Hand the key card to the target. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 0-10K diff --git a/dataset_info/leju_robot_hotel_services_b.yaml b/dataset_info/leju_robot_hotel_services_b.yaml index 2fcd35667f904a08bcd19a88c16fc254caa0b03c..0d4d175dabb4c9fbe8aaa889966d22dc4078415c 100644 --- a/dataset_info/leju_robot_hotel_services_b.yaml +++ b/dataset_info/leju_robot_hotel_services_b.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_b -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-209703 -dataset_size: 14.0GB -statistics: - total_episodes: 288 - total_frames: 209703 - total_tasks: 1 - total_videos: 864 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 288 + total_frames: 209703 + total_tasks: 1 + total_videos: 864 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 209703 +dataset_size: 14.0GB +data_structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_b + dataset_name: hotel_services_b + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-209703 + dataset_size: 14.0GB + statistics: *id002 + dataset_uuid: 1652000d-29c5-40d4-9d8d-3198ed81edbb + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_c.yaml b/dataset_info/leju_robot_hotel_services_c.yaml index e77d549c20f530c19159b6f6533be0131e85e823..b1add86a9ea1d43f37e2c0840bfd1a72f020d004 100644 --- a/dataset_info/leju_robot_hotel_services_c.yaml +++ b/dataset_info/leju_robot_hotel_services_c.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_c -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-235148 -dataset_size: 15.6GB -statistics: - total_episodes: 334 - total_frames: 235148 - total_tasks: 1 - total_videos: 1002 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 334 + total_frames: 235148 + total_tasks: 1 + total_videos: 1002 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 235148 +dataset_size: 15.6GB +data_structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_c + dataset_name: hotel_services_c + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-235148 + dataset_size: 15.6GB + statistics: *id002 + dataset_uuid: 6caaa6a8-f638-4f21-89e1-89725c297ba7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_d.yaml b/dataset_info/leju_robot_hotel_services_d.yaml index 6427d579f68d5fcf6d8db3ffbaebfb43ad8ee4a7..4cb7cc26d40088a813eb0b8ee93eb5323546038d 100644 --- a/dataset_info/leju_robot_hotel_services_d.yaml +++ b/dataset_info/leju_robot_hotel_services_d.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_d -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-224505 -dataset_size: 15.1GB -statistics: - total_episodes: 324 - total_frames: 224505 - total_tasks: 1 - total_videos: 972 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 324 + total_frames: 224505 + total_tasks: 1 + total_videos: 972 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 224505 +dataset_size: 15.1GB +data_structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_d + dataset_name: hotel_services_d + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-224505 + dataset_size: 15.1GB + statistics: *id002 + dataset_uuid: 83fb3fa9-72ea-4860-a22f-c6a5a597df39 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_e.yaml b/dataset_info/leju_robot_hotel_services_e.yaml index dc54b50b23223bb711f9d422bfcd3b52ab8b86e0..71bf9d49e8a9b14ccb8fad86955ee5941499c3a9 100644 --- a/dataset_info/leju_robot_hotel_services_e.yaml +++ b/dataset_info/leju_robot_hotel_services_e.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_e -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-212885 -dataset_size: 14.2GB -statistics: - total_episodes: 309 - total_frames: 212885 - total_tasks: 1 - total_videos: 927 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 309 + total_frames: 212885 + total_tasks: 1 + total_videos: 927 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 212885 +dataset_size: 14.2GB +data_structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_e + dataset_name: hotel_services_e + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-212885 + dataset_size: 14.2GB + statistics: *id002 + dataset_uuid: 4d57f5ee-7850-4fb4-8532-415c1821c756 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_hotel_services_f.yaml b/dataset_info/leju_robot_hotel_services_f.yaml index 018b91a3fd025d7717ed0b5bf206f41ed59c4523..1bb1fc70e65b056a12929cbe26fa183cbf21544c 100644 --- a/dataset_info/leju_robot_hotel_services_f.yaml +++ b/dataset_info/leju_robot_hotel_services_f.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_f +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_f -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the room key to the person. -objects: +dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-95863 -dataset_size: 6.3GB -statistics: - total_episodes: 135 - total_frames: 95863 - total_tasks: 1 - total_videos: 405 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the room key to the person. sub_tasks: - Hand the room key to the person. - Place the ID card on the card reader. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the room key from the key card box. - Hand the ID card to the person. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 135 + total_frames: 95863 + total_tasks: 1 + total_videos: 405 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 95863 +dataset_size: 6.3GB +data_structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_f + dataset_name: hotel_services_f + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the room key to the person. + objects: *id001 + operation_platform_height: null + frame_range: 0-95863 + dataset_size: 6.3GB + statistics: *id002 + dataset_uuid: 9c2a5a4c-c510-4e80-983e-593589a8eec6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the room key to the person. + - Place the ID card on the card reader. + - Take the ID card from the person's hand. + - Pick up the room key from the key card box. + - Hand the ID card to the person. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_h.yaml b/dataset_info/leju_robot_hotel_services_h.yaml index 5119c2516fd5578f493f5edddf99ae0995e53022..80990a3e5c56e232c639c85a0a3b31e603fcf768 100644 --- a/dataset_info/leju_robot_hotel_services_h.yaml +++ b/dataset_info/leju_robot_hotel_services_h.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_h +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_h -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Hand the key card to the target. -objects: +dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,28 +54,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-35880 -dataset_size: 2.3GB -statistics: - total_episodes: 205 - total_frames: 35880 - total_tasks: 1 - total_videos: 615 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Hand the key card to the target. sub_tasks: - Hand the key card to the target. - Pick up the key card from the card box. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 205 + total_frames: 35880 + total_tasks: 1 + total_videos: 615 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 35880 +dataset_size: 2.3GB +data_structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,40 +164,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_h + dataset_name: hotel_services_h + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Hand the key card to the target. + objects: *id001 + operation_platform_height: null + frame_range: 0-35880 + dataset_size: 2.3GB + statistics: *id002 + dataset_uuid: c14b0609-dd8c-4b81-9f81-e1d77b899e9e + language: *id003 + task_categories: *id004 + sub_tasks: + - Hand the key card to the target. + - Pick up the key card from the card box. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_hotel_services_i.yaml b/dataset_info/leju_robot_hotel_services_i.yaml index 750db2ac045c6a3c02f3d09c51b99c22c0907064..782e5e3b0eef78fc9b37b7c7935723d31dbce86a 100644 --- a/dataset_info/leju_robot_hotel_services_i.yaml +++ b/dataset_info/leju_robot_hotel_services_i.yaml @@ -1,15 +1,35 @@ -path: leju_robot_hotel_services_i +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: hotel_services_i -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: End -objects: +dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -34,23 +54,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-33547 -dataset_size: 2.1GB -statistics: - total_episodes: 189 - total_frames: 33547 - total_tasks: 1 - total_videos: 567 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: End sub_tasks: - End - Take out the room card with right gripper @@ -58,7 +65,30 @@ sub_tasks: - Hand the room card to the target. - Pick up the room card from the card holder. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 189 + total_frames: 33547 + total_tasks: 1 + total_videos: 567 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 33547 +dataset_size: 2.1GB +data_structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,40 +167,115 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_hotel_services_i + dataset_name: hotel_services_i + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: End + objects: *id001 + operation_platform_height: null + frame_range: 0-33547 + dataset_size: 2.1GB + statistics: *id002 + dataset_uuid: fc45ac73-e09b-491e-9dc0-71c8c532f0a7 + language: *id003 + task_categories: *id004 + sub_tasks: + - End + - Take out the room card with right gripper + - Hand the room card to the guest with right gripper + - Hand the room card to the target. + - Pick up the room card from the card holder. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 10K-100K diff --git a/dataset_info/leju_robot_moving_parts_a.yaml b/dataset_info/leju_robot_moving_parts_a.yaml index e21959619437562cb73f1d5a8393dc5eb80e6453..ed9e7028ff2c315aae564ec1857abb348b425f3c 100644 --- a/dataset_info/leju_robot_moving_parts_a.yaml +++ b/dataset_info/leju_robot_moving_parts_a.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the gray part with right gripper -objects: +dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-557980 -dataset_size: 34.2GB -statistics: - total_episodes: 380 - total_frames: 557980 - total_tasks: 1 - total_videos: 1140 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the gray part with right gripper sub_tasks: - Grasp the gray part with right gripper - Move to the table behind body @@ -59,7 +66,30 @@ sub_tasks: - Pick up the small parts from the shelf. - Move the small parts to the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 380 + total_frames: 557980 + total_tasks: 1 + total_videos: 1140 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 557980 +dataset_size: 34.2GB +data_structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +141,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,39 +168,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_a + dataset_name: moving_parts_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the gray part with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-557980 + dataset_size: 34.2GB + statistics: *id002 + dataset_uuid: e595bb4f-5c6e-4271-9364-10c9f3f695b0 + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the gray part with right gripper + - Move to the table behind body + - Grasp the white part with right gripper + - Grasp the white part with left gripper + - Place the gray part on the table with right gripper + - Place the white part on the table with left gripper + - Place the white part on the table with right gripper + - End + - Move to the initial position at the workbench. + - Insert the small parts into the corresponding holes on the workbench. + - Pick up the small parts from the shelf. + - Move the small parts to the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_b.yaml b/dataset_info/leju_robot_moving_parts_b.yaml index d6b1efd43d926fc8b3657385c989acde5d0a0b53..be51e93542d459931ee2a9db7fafc8791d467973 100644 --- a/dataset_info/leju_robot_moving_parts_b.yaml +++ b/dataset_info/leju_robot_moving_parts_b.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_b -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Insert the small parts into the corresponding holes on the workbench. -objects: +dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-708011 -dataset_size: 43.3GB -statistics: - total_episodes: 490 - total_frames: 708011 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Insert the small parts into the corresponding holes on the workbench. sub_tasks: - Insert the small parts into the corresponding holes on the workbench. - End @@ -56,7 +63,30 @@ sub_tasks: - Pick up small parts from the shelf. - Move to the initial position of the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 490 + total_frames: 708011 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 708011 +dataset_size: 43.3GB +data_structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,39 +165,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_b + dataset_name: moving_parts_b + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Insert the small parts into the corresponding holes on the workbench. + objects: *id001 + operation_platform_height: null + frame_range: 0-708011 + dataset_size: 43.3GB + statistics: *id002 + dataset_uuid: b23f0a82-6d8f-4f98-b818-5e10125816cc + language: *id003 + task_categories: *id004 + sub_tasks: + - Insert the small parts into the corresponding holes on the workbench. + - End + - Place the white part on the table with left gripper + - Grasp the white part with left gripper + - Move the small parts to the workbench. + - Move to the table behind body + - Take small components from the rack. + - Pick up small parts from the shelf. + - Move to the initial position of the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_c.yaml b/dataset_info/leju_robot_moving_parts_c.yaml index 8b8758ed3b1ee330124de03c1173a303ab9c315f..f610c2d15effa2bff5af3197674d3cc6fd30972d 100644 --- a/dataset_info/leju_robot_moving_parts_c.yaml +++ b/dataset_info/leju_robot_moving_parts_c.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_c -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the white part on the table with left gripper -objects: +dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-716756 -dataset_size: 44.0GB -statistics: - total_episodes: 490 - total_frames: 716756 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the white part on the table with left gripper sub_tasks: - Place the white part on the table with left gripper - Grasp the white part with left gripper @@ -59,7 +66,30 @@ sub_tasks: - Move to the table behind body - Grasp the white part with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -67,7 +97,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 490 + total_frames: 716756 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 716756 +dataset_size: 44.0GB +data_structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -76,13 +141,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -100,39 +168,122 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_c + dataset_name: moving_parts_c + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the white part on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-716756 + dataset_size: 44.0GB + statistics: *id002 + dataset_uuid: 7aa945d0-afcc-41a9-bc85-6d19914ec42d + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the white part on the table with left gripper + - Grasp the white part with left gripper + - Place the gray part on the table with right gripper + - Grasp the gray part with right gripper + - End + - Return to the initial position at the workbench. + - Move the small component to the workbench. + - Place the white part on the table with right gripper + - Insert the small component into the corresponding slot on the workbench. + - Pick up the small component from the shelf. + - Move to the table behind body + - Grasp the white part with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_f.yaml b/dataset_info/leju_robot_moving_parts_f.yaml index 7591cc89eda7dc9cd1a52c44129b62371196b309..de1006ea598e3da55a1104f995e6ebb47e1a1aeb 100644 --- a/dataset_info/leju_robot_moving_parts_f.yaml +++ b/dataset_info/leju_robot_moving_parts_f.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_f +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_f -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the white part on the table with left gripper -objects: +dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-716938 -dataset_size: 44.2GB -statistics: - total_episodes: 489 - total_frames: 716938 - total_tasks: 1 - total_videos: 1467 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the white part on the table with left gripper sub_tasks: - Place the white part on the table with left gripper - Grasp the white part with left gripper @@ -60,7 +67,30 @@ sub_tasks: - Move to the table behind body - Grasp the white part with right gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -68,7 +98,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 489 + total_frames: 716938 + total_tasks: 1 + total_videos: 1467 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 716938 +dataset_size: 44.2GB +data_structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -77,13 +142,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -101,39 +169,123 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_f + dataset_name: moving_parts_f + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the white part on the table with left gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-716938 + dataset_size: 44.2GB + statistics: *id002 + dataset_uuid: b51f42cb-0020-403b-b1c0-c4cc99f2190a + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the white part on the table with left gripper + - Grasp the white part with left gripper + - Place the gray part on the table with right gripper + - End + - Return to the initial position at the workbench. + - Move the small component to the workbench. + - Abnormal + - Place the white part on the table with right gripper + - Insert the small component into the corresponding slot on the workbench. + - Pick up the small component from the shelf. + - Grasp the gray part with right gripper + - Move to the table behind body + - Grasp the white part with right gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_g.yaml b/dataset_info/leju_robot_moving_parts_g.yaml index e2765aaaf8aaf71cbab6ae8efcbcdea16f9a3d41..f485c29b81b96a574950d5238e0f00a6580d6c01 100644 --- a/dataset_info/leju_robot_moving_parts_g.yaml +++ b/dataset_info/leju_robot_moving_parts_g.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_g +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_g -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Insert the small component into the corresponding slot on the workbench. -objects: +dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-225345 -dataset_size: 13.8GB -statistics: - total_episodes: 157 - total_frames: 225345 - total_tasks: 1 - total_videos: 471 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Insert the small component into the corresponding slot on the workbench. sub_tasks: - Insert the small component into the corresponding slot on the workbench. - Move to the table behind body @@ -57,7 +64,30 @@ sub_tasks: - Return to the initial position at the workbench. - Grasp the white part with left gripper - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 157 + total_frames: 225345 + total_tasks: 1 + total_videos: 471 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 225345 +dataset_size: 13.8GB +data_structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,39 +166,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_g + dataset_name: moving_parts_g + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Insert the small component into the corresponding slot on the workbench. + objects: *id001 + operation_platform_height: null + frame_range: 0-225345 + dataset_size: 13.8GB + statistics: *id002 + dataset_uuid: 4e06a288-ac8c-4c85-a86b-027159d4add0 + language: *id003 + task_categories: *id004 + sub_tasks: + - Insert the small component into the corresponding slot on the workbench. + - Move to the table behind body + - Grasp the white part with right gripper + - Move the small component to the workbench. + - Place the white part on the table with left gripper + - Place the white part on the table with right gripper + - End + - Pick up the small component from the shelf. + - Return to the initial position at the workbench. + - Grasp the white part with left gripper + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_h.yaml b/dataset_info/leju_robot_moving_parts_h.yaml index a90910c8f8c9492ebad8b4b613a4df5aff091caf..f93de31c898d222536fbbf01cb8197f1dcf4934f 100644 --- a/dataset_info/leju_robot_moving_parts_h.yaml +++ b/dataset_info/leju_robot_moving_parts_h.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_h +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_h -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Grasp the gray part with right gripper -objects: +dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-234391 -dataset_size: 14.5GB -statistics: - total_episodes: 162 - total_frames: 234391 - total_tasks: 1 - total_videos: 486 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Grasp the gray part with right gripper sub_tasks: - Grasp the gray part with right gripper - Insert the small component into the corresponding slot on the workbench. @@ -58,7 +65,30 @@ sub_tasks: - Pick up the small component from the shelf. - Return to the initial position at the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -66,7 +96,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 162 + total_frames: 234391 + total_tasks: 1 + total_videos: 486 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 234391 +dataset_size: 14.5GB +data_structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -75,13 +140,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -99,39 +167,121 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_h + dataset_name: moving_parts_h + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Grasp the gray part with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-234391 + dataset_size: 14.5GB + statistics: *id002 + dataset_uuid: 27a39264-c303-45a1-9046-1419479116fb + language: *id003 + task_categories: *id004 + sub_tasks: + - Grasp the gray part with right gripper + - Insert the small component into the corresponding slot on the workbench. + - Move to the table behind body + - Grasp the white part with right gripper + - Abnormal + - Move the small component to the workbench. + - Place the gray part on the table with right gripper + - Place the white part on the table with right gripper + - End + - Pick up the small component from the shelf. + - Return to the initial position at the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_i.yaml b/dataset_info/leju_robot_moving_parts_i.yaml index c81d8d945f1be381fe4c61007bed0f2c16c11a86..147e8eb8198e2fdde0a0873dafbafde2829e5773 100644 --- a/dataset_info/leju_robot_moving_parts_i.yaml +++ b/dataset_info/leju_robot_moving_parts_i.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_i +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_i -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Move to the initial position of the workbench. -objects: +dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-229727 -dataset_size: 14.0GB -statistics: - total_episodes: 155 - total_frames: 229727 - total_tasks: 1 - total_videos: 465 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move to the initial position of the workbench. sub_tasks: - Move to the initial position of the workbench. - Grasp the gray part with right gripper @@ -57,7 +64,30 @@ sub_tasks: - Pick up the small component from the shelf. - Bring the small component to the front of the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 155 + total_frames: 229727 + total_tasks: 1 + total_videos: 465 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 229727 +dataset_size: 14.0GB +data_structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,39 +166,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_i + dataset_name: moving_parts_i + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Move to the initial position of the workbench. + objects: *id001 + operation_platform_height: null + frame_range: 0-229727 + dataset_size: 14.0GB + statistics: *id002 + dataset_uuid: c8b01b9f-9806-4a5a-a895-01df2cac436f + language: *id003 + task_categories: *id004 + sub_tasks: + - Move to the initial position of the workbench. + - Grasp the gray part with right gripper + - Insert the small component into the corresponding slot on the workbench. + - Move to the table behind body + - Grasp the white part with right gripper + - Place the gray part on the table with right gripper + - Place the white part on the table with right gripper + - End + - Pick up the small component from the shelf. + - Bring the small component to the front of the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_j.yaml b/dataset_info/leju_robot_moving_parts_j.yaml index bf4b62c3bdbdf45dd2674e70393471878b47334f..d012dcd9e8dafa523846d3ccc5c86022c0e93725 100644 --- a/dataset_info/leju_robot_moving_parts_j.yaml +++ b/dataset_info/leju_robot_moving_parts_j.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_j +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_j -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Move to the initial position of the workbench. -objects: +dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-223023 -dataset_size: 13.9GB -statistics: - total_episodes: 153 - total_frames: 223023 - total_tasks: 1 - total_videos: 459 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move to the initial position of the workbench. sub_tasks: - Move to the initial position of the workbench. - Grasp the gray part with right gripper @@ -57,7 +64,30 @@ sub_tasks: - Pick up the small component from the shelf. - Bring the small component to the front of the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -65,7 +95,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 153 + total_frames: 223023 + total_tasks: 1 + total_videos: 459 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 223023 +dataset_size: 13.9GB +data_structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -74,13 +139,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -98,39 +166,120 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_j + dataset_name: moving_parts_j + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Move to the initial position of the workbench. + objects: *id001 + operation_platform_height: null + frame_range: 0-223023 + dataset_size: 13.9GB + statistics: *id002 + dataset_uuid: a7584581-99dc-4ffb-bc23-e846841a55b7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Move to the initial position of the workbench. + - Grasp the gray part with right gripper + - Insert the small component into the corresponding slot on the workbench. + - Move to the table behind body + - Grasp the white part with right gripper + - Place the gray part on the table with right gripper + - Place the white part on the table with right gripper + - End + - Pick up the small component from the shelf. + - Bring the small component to the front of the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_k.yaml b/dataset_info/leju_robot_moving_parts_k.yaml index c67e5570b85b1ec334e7bd8c405231e6f8ce4e7d..a855a74a4b49237d4e57e0796760137e12a92fbb 100644 --- a/dataset_info/leju_robot_moving_parts_k.yaml +++ b/dataset_info/leju_robot_moving_parts_k.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_k +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_k -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Pick up the small component from the shelf. -objects: +dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-468307 -dataset_size: 28.4GB -statistics: - total_episodes: 329 - total_frames: 468307 - total_tasks: 1 - total_videos: 987 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Pick up the small component from the shelf. sub_tasks: - Pick up the small component from the shelf. - Grasp the white part with right gripper @@ -55,7 +62,30 @@ sub_tasks: - Move to the table behind body - Move the small component to the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 329 + total_frames: 468307 + total_tasks: 1 + total_videos: 987 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 468307 +dataset_size: 28.4GB +data_structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_k + dataset_name: moving_parts_k + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Pick up the small component from the shelf. + objects: *id001 + operation_platform_height: null + frame_range: 0-468307 + dataset_size: 28.4GB + statistics: *id002 + dataset_uuid: 062231be-de5e-4cef-b404-096085be3e9e + language: *id003 + task_categories: *id004 + sub_tasks: + - Pick up the small component from the shelf. + - Grasp the white part with right gripper + - End + - Move to the initial position at the workbench. + - Insert the small component into the corresponding slot on the workbench. + - Place the white part on the table with right gripper + - Move to the table behind body + - Move the small component to the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_m.yaml b/dataset_info/leju_robot_moving_parts_m.yaml index 14749bdc05f22f1de01f0df64ad18d189329ad36..dfe05c272516e90ed81580e612ae57a53a685688 100644 --- a/dataset_info/leju_robot_moving_parts_m.yaml +++ b/dataset_info/leju_robot_moving_parts_m.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_m +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_m -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the black part on the table with right gripper -objects: +dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-742399 -dataset_size: 50.9GB -statistics: - total_episodes: 490 - total_frames: 742399 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the black part on the table with right gripper sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -55,7 +62,30 @@ sub_tasks: - Move to the initial position of the shelf. - Move to the table behind body - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 490 + total_frames: 742399 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 742399 +dataset_size: 50.9GB +data_structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_m + dataset_name: moving_parts_m + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the black part on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-742399 + dataset_size: 50.9GB + statistics: *id002 + dataset_uuid: fb9bf451-cf8b-4da5-b5c1-13529609f049 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the black part on the table with right gripper + - Pick up the large material from the shelf. + - Insert the large material into the corresponding slot on the workbench. + - End + - Grasp the black part with right gripper + - Move the large material to the workbench. + - Move to the initial position of the shelf. + - Move to the table behind body + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_n.yaml b/dataset_info/leju_robot_moving_parts_n.yaml index 4636d77f12b754db4ab287c8038a16eced3853ca..5dfd2facd7e41619fb1fb816b5bbd2aa195ef116 100644 --- a/dataset_info/leju_robot_moving_parts_n.yaml +++ b/dataset_info/leju_robot_moving_parts_n.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_n +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_n -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the black part on the table with right gripper -objects: +dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-738613 -dataset_size: 51.0GB -statistics: - total_episodes: 492 - total_frames: 738613 - total_tasks: 1 - total_videos: 1476 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the black part on the table with right gripper sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -55,7 +62,30 @@ sub_tasks: - Move to the initial position of the shelf. - Move to the table behind body - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 492 + total_frames: 738613 + total_tasks: 1 + total_videos: 1476 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 738613 +dataset_size: 51.0GB +data_structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_n + dataset_name: moving_parts_n + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the black part on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-738613 + dataset_size: 51.0GB + statistics: *id002 + dataset_uuid: 45be2265-aabd-465a-ba72-7ad2a60ed23e + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the black part on the table with right gripper + - Pick up the large material from the shelf. + - Insert the large material into the corresponding slot on the workbench. + - End + - Grasp the black part with right gripper + - Move the large material to the workbench. + - Move to the initial position of the shelf. + - Move to the table behind body + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_o.yaml b/dataset_info/leju_robot_moving_parts_o.yaml index 90dc00fc3d76dfd16dc339d9032b508d95da76d6..8da3473954715dc56970f3a9562ecf9b3328b467 100644 --- a/dataset_info/leju_robot_moving_parts_o.yaml +++ b/dataset_info/leju_robot_moving_parts_o.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_o +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_o -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Return to the initial position at the shelf -objects: +dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-745064 -dataset_size: 51.1GB -statistics: - total_episodes: 490 - total_frames: 745064 - total_tasks: 1 - total_videos: 1470 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Return to the initial position at the shelf sub_tasks: - Return to the initial position at the shelf - Grasp the black part with right gripper @@ -55,7 +62,30 @@ sub_tasks: - Move the large material to the workbench - Insert the large material into the corresponding slot on the workbench - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 490 + total_frames: 745064 + total_tasks: 1 + total_videos: 1470 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 745064 +dataset_size: 51.1GB +data_structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_o + dataset_name: moving_parts_o + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Return to the initial position at the shelf + objects: *id001 + operation_platform_height: null + frame_range: 0-745064 + dataset_size: 51.1GB + statistics: *id002 + dataset_uuid: 27cad5ab-323b-4157-acc6-9f7405263110 + language: *id003 + task_categories: *id004 + sub_tasks: + - Return to the initial position at the shelf + - Grasp the black part with right gripper + - End + - Pick up the large material from the shelf + - Place the black part on the table with right gripper + - Move to the table behind body + - Move the large material to the workbench + - Insert the large material into the corresponding slot on the workbench + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_q.yaml b/dataset_info/leju_robot_moving_parts_q.yaml index 851b69ffa0324e9ba522f43f95105064b056bf78..8ac86f8a4ade9f1f7ef54e4fc964b2d912d38218 100644 --- a/dataset_info/leju_robot_moving_parts_q.yaml +++ b/dataset_info/leju_robot_moving_parts_q.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_q +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_q -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the black part on the table with right gripper -objects: +dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-756932 -dataset_size: 51.9GB -statistics: - total_episodes: 494 - total_frames: 756932 - total_tasks: 1 - total_videos: 1482 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the black part on the table with right gripper sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -55,7 +62,30 @@ sub_tasks: - Move to the initial position of the shelf. - Move to the table behind body - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 494 + total_frames: 756932 + total_tasks: 1 + total_videos: 1482 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 756932 +dataset_size: 51.9GB +data_structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_q + dataset_name: moving_parts_q + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the black part on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-756932 + dataset_size: 51.9GB + statistics: *id002 + dataset_uuid: 1632a2f6-2fac-45cf-b9d6-7088ebda0870 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the black part on the table with right gripper + - Pick up the large material from the shelf. + - Insert the large material into the corresponding slot on the workbench. + - End + - Grasp the black part with right gripper + - Move the large material to the workbench. + - Move to the initial position of the shelf. + - Move to the table behind body + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_r.yaml b/dataset_info/leju_robot_moving_parts_r.yaml index 6e500199474b2977ccb23fda0fa199b332baffcf..7ae4c3e5e38fec6122c45d0f4d2540c76e7005e2 100644 --- a/dataset_info/leju_robot_moving_parts_r.yaml +++ b/dataset_info/leju_robot_moving_parts_r.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_r +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_r -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the black part on the table with right gripper -objects: +dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-775023 -dataset_size: 53.4GB -statistics: - total_episodes: 495 - total_frames: 775023 - total_tasks: 1 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the black part on the table with right gripper sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -55,7 +62,30 @@ sub_tasks: - Move to the initial position of the shelf. - Move to the table behind body - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 495 + total_frames: 775023 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 775023 +dataset_size: 53.4GB +data_structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_r + dataset_name: moving_parts_r + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the black part on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-775023 + dataset_size: 53.4GB + statistics: *id002 + dataset_uuid: ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the black part on the table with right gripper + - Pick up the large material from the shelf. + - Insert the large material into the corresponding slot on the workbench. + - End + - Grasp the black part with right gripper + - Move the large material to the workbench. + - Move to the initial position of the shelf. + - Move to the table behind body + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_s.yaml b/dataset_info/leju_robot_moving_parts_s.yaml index 17a3c9694e2f26b147d2a2ea605f358db632c1f0..564f7b14eea6da7e39e96ee99d5cd977739dede2 100644 --- a/dataset_info/leju_robot_moving_parts_s.yaml +++ b/dataset_info/leju_robot_moving_parts_s.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_s +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_s -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Return to the initial position at the shelf -objects: +dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-776972 -dataset_size: 53.8GB -statistics: - total_episodes: 495 - total_frames: 776972 - total_tasks: 1 - total_videos: 1485 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Return to the initial position at the shelf sub_tasks: - Return to the initial position at the shelf - Grasp the black part with right gripper @@ -56,7 +63,30 @@ sub_tasks: - Move the large material to the workbench - Insert the large material into the corresponding slot on the workbench - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -64,7 +94,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 495 + total_frames: 776972 + total_tasks: 1 + total_videos: 1485 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 776972 +dataset_size: 53.8GB +data_structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -73,13 +138,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -97,39 +165,119 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_s + dataset_name: moving_parts_s + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Return to the initial position at the shelf + objects: *id001 + operation_platform_height: null + frame_range: 0-776972 + dataset_size: 53.8GB + statistics: *id002 + dataset_uuid: 4f3b96f0-482a-45ca-9176-d8cdf62101c7 + language: *id003 + task_categories: *id004 + sub_tasks: + - Return to the initial position at the shelf + - Grasp the black part with right gripper + - End + - Abnormal + - Pick up the large material from the shelf + - Place the black part on the table with right gripper + - Move to the table behind body + - Move the large material to the workbench + - Insert the large material into the corresponding slot on the workbench + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_t.yaml b/dataset_info/leju_robot_moving_parts_t.yaml index 34b82643cab515cca372c3e7ada6a6c3832dda27..c411a60827f52ad42fe3135c5fc9c2e1c1476ed0 100644 --- a/dataset_info/leju_robot_moving_parts_t.yaml +++ b/dataset_info/leju_robot_moving_parts_t.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_t +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_t -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Move to the initial position of the shelf. -objects: +dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,30 +48,40 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-778671 -dataset_size: 53.8GB -statistics: - total_episodes: 493 - total_frames: 778671 - total_tasks: 1 - total_videos: 1479 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Move to the initial position of the shelf. sub_tasks: - Move to the initial position of the shelf. - Pick up the large material from the shelf. - Insert the large material into the corresponding hole on the workbench. - Move the large material to the front of the workbench. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -59,7 +89,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 493 + total_frames: 778671 + total_tasks: 1 + total_videos: 1479 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 778671 +dataset_size: 53.8GB +data_structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -68,13 +133,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -92,39 +160,114 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_t + dataset_name: moving_parts_t + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Move to the initial position of the shelf. + objects: *id001 + operation_platform_height: null + frame_range: 0-778671 + dataset_size: 53.8GB + statistics: *id002 + dataset_uuid: 5056a5a3-f4a2-42af-895f-9a477a499c11 + language: *id003 + task_categories: *id004 + sub_tasks: + - Move to the initial position of the shelf. + - Pick up the large material from the shelf. + - Insert the large material into the corresponding hole on the workbench. + - Move the large material to the front of the workbench. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_t_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_moving_parts_u.yaml b/dataset_info/leju_robot_moving_parts_u.yaml index 60220de6479902f2f2aa9201a4568182767f8f35..b446ffa483efddae464a7aed7490db432de43904 100644 --- a/dataset_info/leju_robot_moving_parts_u.yaml +++ b/dataset_info/leju_robot_moving_parts_u.yaml @@ -1,15 +1,35 @@ -path: leju_robot_moving_parts_u +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: moving_parts_u -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Place the black part on the table with right gripper -objects: +dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-149345 -dataset_size: 10.4GB -statistics: - total_episodes: 100 - total_frames: 149345 - total_tasks: 1 - total_videos: 300 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Place the black part on the table with right gripper sub_tasks: - Place the black part on the table with right gripper - Pick up the large material from the shelf. @@ -55,7 +62,30 @@ sub_tasks: - Move to the initial position of the shelf. - Move to the table behind body - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -63,7 +93,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 100 + total_frames: 149345 + total_tasks: 1 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 149345 +dataset_size: 10.4GB +data_structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -72,13 +137,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -96,39 +164,118 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_moving_parts_u + dataset_name: moving_parts_u + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Place the black part on the table with right gripper + objects: *id001 + operation_platform_height: null + frame_range: 0-149345 + dataset_size: 10.4GB + statistics: *id002 + dataset_uuid: 5138770c-0dd3-4a50-a8a2-efa57aabc3e9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Place the black part on the table with right gripper + - Pick up the large material from the shelf. + - Insert the large material into the corresponding slot on the workbench. + - End + - Grasp the black part with right gripper + - Move the large material to the workbench. + - Move to the initial position of the shelf. + - Move to the table behind body + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_part_placement.yaml b/dataset_info/leju_robot_part_placement.yaml index c86c80c40af6a211e5e1a7fd5a58d1c6dbabfe89..fd6267ee94bc4ca5853ae64913d8d3efcc66fb06 100644 --- a/dataset_info/leju_robot_part_placement.yaml +++ b/dataset_info/leju_robot_part_placement.yaml @@ -1,15 +1,35 @@ -path: leju_robot_part_placement +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: part_placement -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Insert the small parts into the corresponding slots on the workbench. -objects: +dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -28,23 +48,10 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-796570 -dataset_size: 50.4GB -statistics: - total_episodes: 538 - total_frames: 796570 - total_tasks: 1 - total_videos: 1614 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Insert the small parts into the corresponding slots on the workbench. sub_tasks: - Insert the small parts into the corresponding slots on the workbench. - Move the large parts to the workbench. @@ -61,7 +68,30 @@ sub_tasks: - Move the small parts to the workbench. - Pick up the small parts from the shelf. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -69,7 +99,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 538 + total_frames: 796570 + total_tasks: 1 + total_videos: 1614 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 796570 +dataset_size: 50.4GB +data_structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -78,13 +143,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -102,39 +170,124 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n\ - │ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n\ - │ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n\ - │ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n\ - │ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ \ - \ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n\ - ├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n\ - │ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ - \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ - \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ - \ episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├──\ - \ episode_000004.mp4\n └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_part_placement + dataset_name: part_placement + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Insert the small parts into the corresponding slots on the workbench. + objects: *id001 + operation_platform_height: null + frame_range: 0-796570 + dataset_size: 50.4GB + statistics: *id002 + dataset_uuid: 41b426f1-987c-4320-8263-5f89139cf899 + language: *id003 + task_categories: *id004 + sub_tasks: + - Insert the small parts into the corresponding slots on the workbench. + - Move the large parts to the workbench. + - Pick up the large parts from the shelf. + - Grasp the black part with right gripper + - Grasp the gray part with right gripper + - End + - Return to the initial position at the workbench. + - Place the gray part on the table with right gripper + - Place the black part on the table with right gripper + - Move to the table behind body + - Insert the large parts into the corresponding slots on the workbench. + - Return to the initial position at the shelf. + - Move the small parts to the workbench. + - Pick up the small parts from the shelf. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├──\ + \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ + \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│\ + \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_pass_the_cleaner_a.yaml b/dataset_info/leju_robot_pass_the_cleaner_a.yaml index 40bf0bd5e98e0bcb441d6df596f2b402a7e729d1..a497c0707a4e75a6a25ff309a05957133b431a3a 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_a.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_a.yaml @@ -1,15 +1,35 @@ -path: leju_robot_pass_the_cleaner_a +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_cleaner_a -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn the bottle to the front side. -objects: +dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-169467 -dataset_size: 8.7GB -statistics: - total_episodes: 457 - total_frames: 169467 - total_tasks: 1 - total_videos: 1371 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn the bottle to the front side. sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 457 + total_frames: 169467 + total_tasks: 1 + total_videos: 1371 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 169467 +dataset_size: 8.7GB +data_structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_pass_the_cleaner_a + dataset_name: pass_the_cleaner_a + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn the bottle to the front side. + objects: *id001 + operation_platform_height: null + frame_range: 0-169467 + dataset_size: 8.7GB + statistics: *id002 + dataset_uuid: 870e2a78-0b89-486a-bed4-12863a5b00d6 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn the bottle to the front side. + - Pick up the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_pass_the_cleaner_b.yaml b/dataset_info/leju_robot_pass_the_cleaner_b.yaml index 9ff05aa728ea0272c4fced29b8f449190eb1d762..86eb573d675ed6ff828a95d11a6bb5b381872a49 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_b.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_b.yaml @@ -1,15 +1,35 @@ -path: leju_robot_pass_the_cleaner_b +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_cleaner_b -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn the bottle to the front side. -objects: +dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-164222 -dataset_size: 8.5GB -statistics: - total_episodes: 441 - total_frames: 164222 - total_tasks: 1 - total_videos: 1323 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn the bottle to the front side. sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 441 + total_frames: 164222 + total_tasks: 1 + total_videos: 1323 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 164222 +dataset_size: 8.5GB +data_structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_pass_the_cleaner_b + dataset_name: pass_the_cleaner_b + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn the bottle to the front side. + objects: *id001 + operation_platform_height: null + frame_range: 0-164222 + dataset_size: 8.5GB + statistics: *id002 + dataset_uuid: ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn the bottle to the front side. + - Pick up the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_pass_the_cleaner_c.yaml b/dataset_info/leju_robot_pass_the_cleaner_c.yaml index 1476c14fb63ad1af6861508f91de626bdab07851..a37e4e9a5a5e8f2fd90e186f123e63afabfc92c1 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_c.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_c.yaml @@ -1,15 +1,35 @@ -path: leju_robot_pass_the_cleaner_c +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_cleaner_c -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn the bottle to the front side. -objects: +dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-162075 -dataset_size: 8.3GB -statistics: - total_episodes: 444 - total_frames: 162075 - total_tasks: 1 - total_videos: 1332 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn the bottle to the front side. sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 444 + total_frames: 162075 + total_tasks: 1 + total_videos: 1332 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 162075 +dataset_size: 8.3GB +data_structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_pass_the_cleaner_c + dataset_name: pass_the_cleaner_c + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn the bottle to the front side. + objects: *id001 + operation_platform_height: null + frame_range: 0-162075 + dataset_size: 8.3GB + statistics: *id002 + dataset_uuid: 3cc917ac-539a-404f-be76-b82846c01668 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn the bottle to the front side. + - Pick up the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_pass_the_cleaner_d.yaml b/dataset_info/leju_robot_pass_the_cleaner_d.yaml index f970c17ecee9c8e57f4991b026dfcf0d89af8c46..659902c1a282fc3c3bd54886cb1665abd948848e 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_d.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_d.yaml @@ -1,15 +1,35 @@ -path: leju_robot_pass_the_cleaner_d +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_cleaner_d -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn the bottle to the front side. -objects: +dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-168676 -dataset_size: 8.7GB -statistics: - total_episodes: 451 - total_frames: 168676 - total_tasks: 1 - total_videos: 1353 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn the bottle to the front side. sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 451 + total_frames: 168676 + total_tasks: 1 + total_videos: 1353 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 168676 +dataset_size: 8.7GB +data_structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_pass_the_cleaner_d + dataset_name: pass_the_cleaner_d + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn the bottle to the front side. + objects: *id001 + operation_platform_height: null + frame_range: 0-168676 + dataset_size: 8.7GB + statistics: *id002 + dataset_uuid: d1843bc1-83c4-4c84-8c34-c6740a7e82a9 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn the bottle to the front side. + - Pick up the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M diff --git a/dataset_info/leju_robot_pass_the_cleaner_e.yaml b/dataset_info/leju_robot_pass_the_cleaner_e.yaml index 71ac1fab6484fd52b94370c51fa057a85622fae1..f9e3ec325223058ef2a53891ebd96f6a27b2ce7f 100644 --- a/dataset_info/leju_robot_pass_the_cleaner_e.yaml +++ b/dataset_info/leju_robot_pass_the_cleaner_e.yaml @@ -1,15 +1,35 @@ -path: leju_robot_pass_the_cleaner_e +task_categories: &id004 +- robotics +language: &id003 +- en +- zh +tags: &id007 +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: default +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 dataset_name: pass_the_cleaner_e -robot_type: '' -end_effector_type: -- five_finger_hand -scene_type: [] -atomic_actions: -- grasp -- pick -- place -tasks: Turn the bottle to the front side. -objects: +dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 +scene_type: + level1: scene_level1 + level2: scene_level2 + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: &id001 - object_name: table level1: furniture level2: table @@ -22,28 +42,38 @@ objects: level3: null level4: null level5: null -operation_platform_height: null -frame_range: 0-165558 -dataset_size: 8.6GB -statistics: - total_episodes: 430 - total_frames: 165558 - total_tasks: 1 - total_videos: 1290 - total_chunks: 1 - chunks_size: 1000 - fps: 30 -dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 -language: -- en -- zh -task_categories: -- robotics +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_result: 'null' +task_instruction: Turn the bottle to the front side. sub_tasks: - Turn the bottle to the front side. - Pick up the bottle from the table. - 'null' -annotations: +atomic_actions: +- grasp +- pick +- place +robot_name: leju_robot +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- sensor_1 +- sensor_2 +- sensor_3 +came_info: + observation.images.cam_name_1: resolution_1 + observation.images.cam_name_2: resolution_2 +depth_enabled: false +coordinate_definition: right-hand-frame +origin_xyz: origin_xyz +joint_rotation_dim: joint_rotation_dim +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +base_robtation_dim: base_rotation_dim +base_translation_dim: base_translation_dim +annotations: &id005 subtask_annotation: auto_generated scene_annotation: auto_generated eef_direction: auto_generated @@ -51,7 +81,42 @@ annotations: eef_acc_mag: auto_generated gripper_mode: auto_generated gripper_activity: auto_generated -authors: +operation_platform_height: null +statistics: &id002 + total_episodes: 430 + total_frames: 165558 + total_tasks: 1 + total_videos: 1290 + total_chunks: 1 + chunks_size: 1000 + fps: 30 +frame_num: 165558 +dataset_size: 8.6GB +data_structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n\ + │ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ + │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ + │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ + \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ + \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ + \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ + \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ + \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ + \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ + \ └── (...)" +splits: + train: train +data_path: data_path +video_path: video_path +features: + features_placeholder: features_placeholder +authors: &id006 contributed_by: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ @@ -60,13 +125,16 @@ authors: - name: RoboCOIN url: https://flagopen.github.io/RoboCOIN/ affiliation: RoboCOIN Team +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. homepage: https://flagopen.github.io/RoboCOIN/ paper: https://arxiv.org/abs/2511.17441 repository: https://github.com/FlagOpen/RoboCOIN -license: apache-2.0 -tags: -- RoboCOIN -- LeRobot +contact_detail: robocoin@baai.ac.cn +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ @@ -84,40 +152,112 @@ citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Biman \ Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint\ \ arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n\ \ }" -depth_enabled: false -data_schema: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ \ - \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ \ - \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ - │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" -structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├──\ - \ eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├──\ - \ eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ \ - \ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ - │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ - \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n\ - │ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n\ - │ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n \ - \ ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n\ - \ │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n \ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └──\ - \ (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├──\ - \ episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n\ - \ │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n \ - \ │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n \ - \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ - \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n\ - \ └── (...)" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +video_url: null +raw: + path: leju_robot_pass_the_cleaner_e + dataset_name: pass_the_cleaner_e + robot_type: '' + end_effector_type: + - five_finger_hand + scene_type: [] + atomic_actions: + - grasp + - pick + - place + tasks: Turn the bottle to the front side. + objects: *id001 + operation_platform_height: null + frame_range: 0-165558 + dataset_size: 8.6GB + statistics: *id002 + dataset_uuid: 5857e16d-9974-4991-a27c-549f3ba35f03 + language: *id003 + task_categories: *id004 + sub_tasks: + - Turn the bottle to the front side. + - Pick up the bottle from the table. + - 'null' + annotations: *id005 + authors: *id006 + homepage: https://flagopen.github.io/RoboCOIN/ + paper: https://arxiv.org/abs/2511.17441 + repository: https://github.com/FlagOpen/RoboCOIN + license: apache-2.0 + tags: *id007 + citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu,\ + \ Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai\ + \ Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang\ + \ Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang,\ + \ Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du,\ + \ Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen,\ + \ Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong\ + \ Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang,\ + \ Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun\ + \ Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao\ + \ Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen,\ + \ Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao\ + \ Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao,\ + \ Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n\ + \ journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n\ + \ year={2025}\n }" + depth_enabled: false + data_schema: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│\ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n\ + │ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" + structure: "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ \ + \ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│\ + \ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n\ + │ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n\ + │ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ \ + \ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├──\ + \ episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n\ + │ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n\ + \ └── chunk-000/\n ├── observation.images.camera_head_rgb/\n \ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ \ + \ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├──\ + \ episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n\ + \ │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n \ + \ │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │\ + \ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n\ + \ ├── episode_000000.mp4\n ├── episode_000001.mp4\n \ + \ ├── episode_000002.mp4\n ├── episode_000003.mp4\n \ + \ ├── episode_000004.mp4\n └── (...)" +surface_material: null +light: null +noise_level: null +tactile_info: null +sound_info: null +base_transform: null +end_transform: null +data_collector: null +data_annotator: null +data_modifier: null +modify_logo: null +data_dowload: null +field_definiton: null +dataset_organization: null +dataset_email: null +dataset_license: null +frame_range: 100K-1M